Did you set up the authorization or just authentication through Tacacs+?
I recently had an issue with this, but I was able to login. I wasn't able to see the devices however. It turns out that the devices in CSM need to be the same exact display name as they show up in ACS.
This is the guide I followed.
http://www.cisco.com/en/US/products/ps6498/products_configuration_example09186a00808eada8.shtml
After some headache I just used ACS for authentication, and not authorization. To do this you choose "non-ACS" when you are setting it up just put the radio button in tacacs+. You then add the user in the local database for the authorazation piece. But it will authenticate against tacacs.
