Is it possible to enter a chroot without using sudo? If so, how? I've tried googling, but all I get are results about crouton.
You can look at the schroot package. It provides a way to grant user access to one or more chroots on your system. The configuration allows each chroot to be accessed by only certain users or groups and allows bind-mounting of directories from the host system into each chroot as desired.
Once it is configured, it is easy for an ordinary user with no root privileges to run
schroot -c chroot1 -- cmd ...
For some more description and examples of how to configure schroot, read
