pos/pos_place/security/ir_rule.xml

<?xml version="1.0" encoding="UTF-8"?>
<!--
Copyright (C) 2015 - Today: GRAP (http://www.grap.coop)
@author: Sylvain LE GAL (https://twitter.com/legalsylvain)
License AGPL-3.0 or later (http://www.gnu.org/licenses/agpl.html).
-->
<odoo noupdate="0">

    <record id="ir_rule_pos_place" model="ir.rule">
        <field name="name">Point of Sale Places</field>
        <field name="model_id" ref="model_pos_place" />
        <field name="global" eval="True" />
        <field name="domain_force">['|',
            ('company_id', '=', False),
            ('company_id', '=', user.company_id.id)]</field>
    </record>

</odoo>