Jetson TX2 and MCP23017, I2C Interface

Any one know how to use MCP 23017 to expand the IO of Jetson TX2 using I2C interface.
Any instruction is fine.
What kind of driver? How to control the IO using Python?

BTW I got this example in cpp:

Is there any example in Python, that I can start with?

Thank you,
Chaozzzzzz