pass $PASS before sudo

jsk_unitree_robot/cross/install.sh

@@ -116,15 +116,15 @@ function copy_data () {
 
         # update udev
         # respeaker_ros
-        sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; sudo cp -f \$(rospack find respeaker_ros)/config/60-respeaker.rules /etc/udev/rules.d/60-respeaker.rules"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; echo $PASS | sudo cp -f \$(rospack find respeaker_ros)/config/60-respeaker.rules /etc/udev/rules.d/60-respeaker.rules"
         #
-        sshpass -p $PASS ssh -t ${user}@${hostname} "ls -al /etc/udev/rules.d/; sudo systemctl restart udev"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "ls -al /etc/udev/rules.d/; echo $PASS | sudo systemctl restart udev"
     fi
 
     # enable Internet with USB LTE module
     if [[ "${hostname}" == "192.168.123.161" ]]; then
-        sshpass -p $PASS ssh -t ${user}@${hostname} "export PATH=\$PATH:/sbin; source /opt/jsk/User/user_setup.bash; sudo cp -f \$(rospack find jsk_unitree_startup)/config/dhcpcd.conf /etc/dhcpcd.conf"
-        sshpass -p $PASS ssh -t ${user}@${hostname} "sudo systemctl restart dhcpcd"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "export PATH=\$PATH:/sbin; source /opt/jsk/User/user_setup.bash; echo $PASS | sudo cp -f \$(rospack find jsk_unitree_startup)/config/dhcpcd.conf /etc/dhcpcd.conf"
+        sshpass -p $PASS ssh -t ${user}@${hostname} "echo $PASS | sudo systemctl restart dhcpcd"
     fi
     set +x
 }

jsk_unitree_robot/cross/startup_scripts/usercustomize.py

@@ -0,0 +1,42 @@
+import site
+import sys
+import os
+import os.path as osp
+
+site.PREFIXES += [
+    '/opt/jsk/System/Python/',
+    '/opt/jsk/System/ros1_dependencies/'
+]
+
+# https://www.programcreek.com/python/?code=Pylons%2Fhupper%2Fhupper-master%2Fsrc%2Fhupper%2Fcompat.py
+def get_site_packages():
+    try:
+        paths = []
+        for path in site.getsitepackages():
+            if osp.exists(path):
+                paths.append(path)
+            site_package = osp.join(osp.dirname(path), 'site-packages')
+            if site_package != path and osp.exists(site_package):
+                paths.append(site_package)
+
+        return paths
+
+    # virtualenv does not ship with a getsitepackages impl so we fallback
+    # to using distutils if we can
+    # https://github.com/pypa/virtualenv/issues/355
+    except Exception:
+        try:
+            paths = []
+            for base_path in site.PREFIXES:
+                for python_path in ['lib/python{}'.format(sys.version_info[0]),
+                                    'lib/python{}.{}'.format(sys.version_info[0], sys.version_info[1])]:
+                    site_package = osp.join(base_path, python_path, 'site-packages')
+                    if osp.exists(site_package):
+                        paths.append(site_package)
+            return paths
+
+        # just incase, don't fail here, it's not worth it
+        except Exception as e:
+            return []
+
+sys.path.extend(get_site_packages())