REP-2001 ROS 2 Variants initial draft (ros-infrastructure#176)

* REP-2001 ROS 2 Variants initial draft

* add missing pluginlib

* add rcutils and rmw explicitly

* add angles to desktop

* list all repositories explicitly

* typo

* remove navigation cartographer and astra repos from desktop

* alpha order fixup

* update status and Post-History now that it's been approved

rep-2001.rst

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+REP: 2001
+Title: ROS Bouncy and Newer Variants
+Author: Tully Foote <[email protected]>, Mikael Arguedas <[email protected]>
+Status: Active
+Type: Informational
+Content-Type: text/x-rst
+Created: 16-Jul-2018
+Post-History: 17-Sep-2018
+
+
+Abstract
+========
+
+This REP describes the variants for the ROS Bouncy release and for releases that follow until otherwise replaced by a similar update REP.
+
+
+Motivation
+==========
+
+For a discussion on the general motivation and role of variants,
+please see REP 108 [1]_.
+
+This document covers the common variants used for recommended
+installations.
+It is expressed in the ros2/variants repository on github.com [2]_.
+
+The definitions in this REP are concise for clearer purpose, and do not list all transitive dependencies explicitly.
+
+
+Specification
+=============
+
+End-user entry points
+---------------------
+
+We define three main entry points for ROS users.
+
+ * desktop (recommended)
+ * ros_base
+ * ros_core
+
+Variants
+--------
+
+ROS Core
+''''''''
+
+The `ros_core` variants composes the core communication protocols.
+It may not contain any GUI dependencies.
+
+::
+
+ - ros_core:
+      packages: [ament_cmake, ament_cmake_ros, ament_index, ament_lint,
+                 ament_package, class_loader, common_interfaces,
+                 console_bridge, googletest, launch, libyaml_vendor,
+                 osrf_pycommon, osrf_testing_tools_cpp, pluginlib,
+                 poco_vendor, rcl, rcl_interfaces, rclcpp, rclpy,
+                 rcutils, rmw, rmw_implementation, ros2cli, rosidl,
+                 rosidl_dds, rosidl_defaults, rosidl_python, rosidl_typesupport,
+                 ros_environment, tinyxml2_vendor, uncrustify]
+      And at least one of the following rmw_implementation:
+      - Fast-RTPS: [Fast-CDR, Fast-RTPS, rmw_fastrtps]
+      - Connext: [rmw_connext, rosidl_typesupport_connext]
+      - Opensplice: [rmw_opensplice, rosidl_typesupport_opensplice]
+
+
+ROS Base
+''''''''
+
+The `ros_base` metapackage composes the `ros_core` metapackage with
+commonly used libraries.
+It may not contain any GUI dependencies.
+
+::
+
+  - ros_base:
+      extends: [ros_core]
+      packages: [geometry2, kdl_parser, orocos_kinematics_dynamics,
+                 robot_state_publisher, tinyxml_vendor, urdf, urdfdom,
+                 urdfdom_headers]
+
+
+Desktop variants
+''''''''''''''''
+
+The `desktop` metapackage is the main entry point for users.
+It provides all commonly used libraries as well as visualization tools and tutorials.
+
+::
+
+  - desktop:
+      extends: [ros_base]
+      packages: [angles, demos, depthimage_to_laserscan, example_interfaces,
+                 examples, joystick_drivers, laser_geometry,
+                 navigation_msgs, pcl_conversions, realtime_support,
+                 resource_retriever, rviz, sros2, teleop_twist_joy,
+                 teleop_twist_keyboard, tlsf, vision_opencv]
+
+
+Institution-specific and robot-specific
+'''''''''''''''''''''''''''''''''''''''
+
+Please see REP 108 [1]_ for discussion of institution-specific
+metapackages.
+
+When creating robot or institution specific metapackages consider
+using the \*_robot and \*_desktop and \*_base form where * is the
+institution or robot name.
+
+An institution is not required to provide a metapackage, they are
+mainly provided for convenience and identity.
+
+
+References
+==========
+
+.. [1] REP 108: Diamondback Variants
+   (http://www.ros.org/reps/rep-0108.html)
+
+.. [2] ROS Variants Repository
+   (https://github.com/ros2/variants)
+
+
+Copyright
+=========
+
+This document has been placed in the public domain.
+
+
+..
+   Local Variables:
+   mode: indented-text
+   indent-tabs-mode: nil
+   sentence-end-double-space: t
+   fill-column: 70
+   coding: utf-8
+   End: