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This should automatically mount it to /media/truecrypt1. Further mounts will go to /media/truecrypt2, and so on. You shouldn't need sudo/su if your permissions are right.
I alias tru='truecrypt' since tr and true are commands.
To explicitly create a mount point do: tru volume.tc /media/foo
To make sure an GUI explorer window (nautilus, et al) opens on the mounted volume, add: --explorer
To see what you currently have mounted do: tru -l
To dismount a volume do: tru -d volume.tc. To dismount all mounted volumes at once do: tru -d
Tested with Truecrypt v6.3a / Ubuntu 9.10