Hello @Sunson Huang Welcome to Q&A forum! I hope the below information would help you with initial query!
Try Create 99-k4a.rules:
If you create the rules file from these instructions it should work without sudo. If you still have trouble we may need more details on what you are changing in rules.d specifically.
review other rules files that might also be running. It looks like some users may also have rules.d in /usr/lib/udev/rules.d that get merged in.
Ref GitHub issue Link