I'm just using the default profile, and the only special environment set up I do is setting SPARK_HOME.
Oddly enough, it does appear to make a difference whether it is called from the notebook or the console. It works fine for me when launched from the notebook, but I reproduce your error when using jupyter console. So as a temporary work-around, you should be able to work from a notebook until we find the problem.
Interestingly, the call to sparkR.init from the console launches Spark successfully, as can be seen by visiting the SparkUI (by default located at localhost:4040) after the kernel reports death, but before the kernel is restarted.
I can also reproduce your error involving subprocess in both jupyter console and notebook, although it works as expected in ipython and the default python shell. I'll continue to look into these errors and post here again when I've found the problem.
Best,
Auberon