Information
All commands executed via sudo should be logged to either syslog (default) or a dedicated log file
Note: visudo edits the sudoers file in a safe fashion, analogous to vipw(8). visudo locks the sudoers file against multiple simultaneous edits, provides basic sanity checks, and checks or parse errors. If the sudoers file is currently being edited you will receive a message to try again later.
Logging of commands executed via sudo enables auditing of those commands
Solution
Edit the file /etc/sudoers or a file in /etc/sudoers.d/ with /usr/sbin/visudo -f <PATH TO FILE>
Remove any lines which are found containing:
Defaults syslog_badpri=none
-OR-
Defaults syslog_goodpri=none
-OR-
If you do not want to log sudo commands to syslog, to use as sudo specific log file, edit the file /etc/sudoers or a file in /etc/sudoers.d/ with /usr/sbin/visudo -f <PATH TO FILE> :
Defaults logfile="<PATH TO CUSTOM LOG FILE>"
Example:
Defaults logfile="/var/log/sudo.log"