As this was the first thing that came up in Google when I tried looking for an answer, I'm posting my eventual solution for anybody who come across these as well despite being well over a year late. :-)
Add rule file in /etc/udev/rules.d
I used 71-persistent-usb.rules following the naming convention as I'm not certain if there would be unintended side effects if I didn't.
The rules I used are:
[code]
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0a5f", ATTRS{idProduct}=="00d1", GROUP="users", MODE="0666"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", GROUP="users", MODE="0666"
[/code]
Works for both the USB printer and cash drawer connected to the system.
Just as a further side note, testing can be done without restarting with the commands:
[code]
udevadm control --reload-rules
start_udev
[/code]