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Based on the advice from jarvisschultz & bpinaya, I removed the miniconda/anaconda part in ~/.basrc:

# added by Miniconda3 4.3.21 installer
#export PATH="/home/ros/miniconda3/bin:$PATH"

And after that, I can successfully roslaunch pr2_gazebo pr2_no_controllers.launch, and the output of python -m site became:

sys.path = [
    '/usr/lib/python2.7',
    '/usr/local/lib/python2.7/dist-packages/Box2D-2.3.2-py2.7-linux-x86_64.egg',
    '/opt/ros/indigo/lib/python2.7/dist-packages',
    '/usr/lib/python2.7/dist-packages',
    '/usr/lib/python2.7/plat-x86_64-linux-gnu',
    '/usr/lib/python2.7/lib-tk',
    '/usr/lib/python2.7/lib-old',
    '/usr/lib/python2.7/lib-dynload',
    '/usr/local/lib/python2.7/dist-packages',
    '/usr/lib/python2.7/dist-packages/PILcompat',
    '/usr/lib/python2.7/dist-packages/gst-0.10',
    '/usr/lib/python2.7/dist-packages/gtk-2.0',
    '/usr/lib/pymodules/python2.7',
    '/usr/lib/python2.7/dist-packages/ubuntu-sso-client',
    '/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode',
]
USER_BASE: '/home/ros/.local' (exists)
USER_SITE: '/home/ros/.local/lib/python2.7/site-packages' (doesn't exist)
ENABLE_USER_SITE: True

Based on the advice from jarvisschultz & bpinaya, I removed the miniconda/anaconda part in ~/.basrc:

# added by Miniconda3 4.3.21 installer
#export PATH="/home/ros/miniconda3/bin:$PATH"

And after that, I can successfully roslaunch pr2_gazebo pr2_no_controllers.launch, and the output of python -m site became:

sys.path = [
    '/usr/lib/python2.7',
    '/usr/local/lib/python2.7/dist-packages/Box2D-2.3.2-py2.7-linux-x86_64.egg',
    '/opt/ros/indigo/lib/python2.7/dist-packages',
    '/usr/lib/python2.7/dist-packages',
    '/usr/lib/python2.7/plat-x86_64-linux-gnu',
    '/usr/lib/python2.7/lib-tk',
    '/usr/lib/python2.7/lib-old',
    '/usr/lib/python2.7/lib-dynload',
    '/usr/local/lib/python2.7/dist-packages',
    '/usr/lib/python2.7/dist-packages/PILcompat',
    '/usr/lib/python2.7/dist-packages/gst-0.10',
    '/usr/lib/python2.7/dist-packages/gtk-2.0',
    '/usr/lib/pymodules/python2.7',
    '/usr/lib/python2.7/dist-packages/ubuntu-sso-client',
    '/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode',
]
USER_BASE: '/home/ros/.local' (exists)
USER_SITE: '/home/ros/.local/lib/python2.7/site-packages' (doesn't exist)
ENABLE_USER_SITE: True

This problem is solved.