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There is a note in the code that says the etc/ros can't be used because the environment config doesn't carry over under sudo, but I don't think this is actually relevant, as seen from the rospkg code below:
https://github.com/ros-infrastructure/rospkg/blob/124658aa9e7aa5b5db61288624b0aa7858f0db91/src/rospkg/environment.py#L213-L227
connects to #495