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Try this: login as unprivileged user, now issue 'sudo rootsh -u root'. Then type 'lsof -w -n -p $$'. On file descriptor 3 it should show a log in the output dir you configured with in the name of the file the unprivileged username. If it's not doing that, what does it show when you start rootsh without arguments or sudo as unprivileged user? And how did you install Rootsh? From source (which compile flags?) or as package (which one?).
If I read your reply right, you *know* you shouldn't ever login as root account user in the first place! In any case, logging in as unprivileged user has the added benefit that you can run rootsh as their default shell. This means you not only get the audit trail when they sudo to another account but the trail for the regular user account as well. That's not only a good thing when you need to monitor allowed access by employees but also for say auditing third party access. Of course the AUP slash system banners should make clear the system is monitored.
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