I have exactly the same problem after upgrading from 14.04 to 15.10. I
have two users (referred here as X and Y) in sudo group. When I run
'pkexec bash' from terminal I get following message. It doesn't make any
difference if I try to authenticate as X or Y.

==== AUTHENTICATING FOR org.freedesktop.policykit.exec ===
Authentication is needed to run `/bin/bash' as the super user
Multiple identities can be used for authentication:
 1.  X,,, (X)
 2.  ,,, (Y)
Choose identity to authenticate as (1-2): 1
Password: 
polkit-agent-helper-1: error response to PolicyKit daemon: 
GDBus.Error:org.freedesktop.PolicyKit1.Error.Failed: No session for cookie
==== AUTHENTICATION FAILED ===
Error executing command as another user: Not authorized

This incident has been reported.

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https://bugs.launchpad.net/bugs/1288786

Title:
  pkexec does not launch graphical authentication

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