Create Udev rule
[embed_url: http://dl.panticz.de/udev/autorun/70-persistent-usb_autorun.rules]
Create autorun wrapper
[embed_url: http://dl.panticz.de/udev/autorun/usb_autorun.sh]
Create autorun.sh script on your USB device (example)
[embed_url: http://dl.panticz.de/udev/autorun/autorun.sh]