I found this in my history:
glasgow --statistics run swd-openocd -V 3.3 unix:/tmp/swd
~/.platformio/packages/toolchain-gccarmnoneeabi/bin/arm-none-eabi-gdb
openocd -c 'adapter driver remote_bitbang; transport select swd' -c 'remote_bitbang host /tmp/swd' -c 'openocd -c 'source [find target/stm32f1x.cfg]'

So no, sudo is not required.