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The problem description no longer describes the steps to reducing the problem, so I can only guess.

roslaunch doesn't "reset" the rospack_cache. Only rospack is capable of writing to the rospack_cache. roslaunch is capable of invoking rospack, which can cause changes to the cache value, but changes would only occur if the environment variables were different. In fact, the top of the cache file shows what environment variables were set to when the cache was written.

So, the problem implies that the environment variables are being reset, which can occur, for example, if your launch file sets these environment variables running remotely, or if you are attempting to hack the main PR2 bringup, which has its own mechanisms for setting environment variables.