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Whenever I try to run thunar-volman (from a terminal), I get there following error:

thunar-volman: Must specify the new HAL device UDI with --device-added.

How can I get thunar-volman to work? Or is there another way to view mounted drives in thunar?

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Doesn't thunar automount drives? Basically "mount" command lists the mounted drives. Here is some information regarding removable media and thunar. You can look into troubleshooting section for using thunar-volman.

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