How to use the rospkg.get_ros_home function in rospkg

def connected_file():
    return os.path.join(rospkg.get_ros_home(), 'turtlebot-connected')

def get_ros_home():
    '''
    Returns the ROS HOME depending on ROS distribution API.

    :return: ROS HOME path
    :rtype: str
    '''
    try:
        import rospkg.distro
        distro = rospkg.distro.current_distro_codename()
        if distro in ['electric', 'diamondback', 'cturtle']:
            import roslib.rosenv
            return roslib.rosenv.get_ros_home()
        else:
            from rospkg import get_ros_home
            return get_ros_home()
    except Exception:
        from roslib import rosenv
        return rosenv.get_ros_home()

environment.

    @param cache: empty dictionary to store package list in.
        If no cache argument provided, will use internal _pkg_dir_cache
        and will return cached answers if available.
        The format of the cache is {package_name: dir_path, ros_root, ros_package_path}.
    @type  cache: {str: str, str, str}
    @param ros_package_path: ROS_ROOT value
    @type  ros_root: str
    @param ros_package_path: ROS_PACKAGE_PATH value or '' if not specified
    @type  ros_package_path: str
    @return: True if on-disk cache matches and was loaded, false otherwise
    @rtype: bool
    """
    try:
        with open(os.path.join(rospkg.get_ros_home(), 'rospack_cache')) as f:
            for l in f.readlines():
                l = l[:-1]
                if not len(l):
                    continue
                if l[0] == '#':
                    # check that the cache matches our env
                    if l.startswith('#ROS_ROOT='):
                        if not l[len('#ROS_ROOT='):] == ros_root:
                            return False
                    elif l.startswith('#ROS_PACKAGE_PATH='):
                        if not l[len('#ROS_PACKAGE_PATH='):] == ros_package_path:
                            return False
                else:
                    cache[os.path.basename(l)] = l, ros_root, ros_package_path
        return True
    except Exception:

def get_cwd(cwd, binary=''):
    result = ''
    if cwd == 'node':
        result = os.path.dirname(binary)
    elif cwd == 'cwd':
        result = os.getcwd()
    elif cwd == 'ros-root':
        result = rospkg.get_ros_root()
    else:
        result = rospkg.get_ros_home()
    if not os.path.exists(result):
        try:
            os.makedirs(result)
        except OSError:
            # exist_ok=True
            pass
    return result

def get_gopher_home():
    '''
      Retrieve the location of the gopher home directory.
      If it does not exist, create a new directory and return this path.

      .. todo:: move this to a common library (currently also used by gopher_customisation)

      :return: the gopher home directory (path)
      :rtype str:
    '''
    gopher_home = os.path.join(rospkg.get_ros_home(), 'gopher')
    if not os.path.isdir(gopher_home):
        os.makedirs(gopher_home)
    return os.path.join(rospkg.get_ros_home(), 'gopher')

# the log dir itself should not be symlinked as latest
    if logfile_dir != log_dir:
        if sys.platform not in ['win32']:
            try:
                success = renew_latest_logdir(logfile_dir)
                if not success:
                    sys.stderr.write("INFO: cannot create a symlink to latest log directory\n")
            except OSError as e:
                sys.stderr.write("INFO: cannot create a symlink to latest log directory: %s\n" % e)

    config_file = os.environ.get('ROS_PYTHON_LOG_CONFIG_FILE')
    if not config_file:
        # search for logging config file in ROS_HOME, ROS_ETC_DIR or relative
        # to the rosgraph package directory.
        config_dirs = [os.path.join(rospkg.get_ros_home(), 'config'),
                       rospkg.get_etc_ros_dir()]
        try:
            config_dirs.append(os.path.join(
                rospkg.RosPack().get_path('rosgraph'), 'conf'))
        except rospkg.common.ResourceNotFound:
            pass
        for config_dir in config_dirs:
            for extension in ('conf', 'yaml'):
                f = os.path.join(config_dir,
                                 'python_logging{}{}'.format(os.path.extsep,
                                                             extension))
                if os.path.isfile(f):
                    config_file = f
                    break
            if config_file is not None:
                break

def get_gopher_home():
    '''
      Retrieve the location of the gopher home directory.
      If it does not exist, create a new directory and return this path.

      .. todo:: move this to a common library (currently also used by gopher_customisation)

      :return: the gopher home directory (path)
      :rtype str:
    '''
    gopher_home = os.path.join(rospkg.get_ros_home(), 'gopher')
    if not os.path.isdir(gopher_home):
        os.makedirs(gopher_home)
    return os.path.join(rospkg.get_ros_home(), 'gopher')

def get_home():
    '''
      Retrieve the location of the home directory for the rocon remocon's
      temporary storage needs

      @return the rocon remocon home directory (path object).
      @type str
    '''
    return os.path.join(rospkg.get_ros_home(), 'rocon', 'remocon')

def get_ros_home(self):
        '''
        Returns the ROS HOME path depending on ROS distribution API.
        @return: ROS HOME path
        @rtype: C{str}
        '''
        try:
            import rospkg.distro
            distro = rospkg.distro.current_distro_codename()
            if distro in ['electric', 'diamondback', 'cturtle']:
                import roslib.rosenv
                return roslib.rosenv.get_ros_home()
            else:
                import rospkg
                return rospkg.get_ros_home()
        except:
            import traceback
            print traceback.format_exc()
            import roslib.rosenv
            return roslib.rosenv.get_ros_home()