in progress

Roles of variants:

• Entry point for users
• Entry point for robot configuration
• Maintenance/organization (e.g. grouping together related stacks that can be referred to at higher level)
• Identity (org-specific)

Main user entry points:

• ros-base
• desktop (robot agnostic, visualization)
• desktop-full (simulators, navigation stack, perception)

PR2:

• PR2-related installation instructions will be moved to Robots/PR2

• WG PR2 image is wg-pr2 varaint

Notes

• no variants, besides robot-specific variants, contain drivers
• many stacks will not be in *any* variant.
• pr2 image will not have GUI tools installed

variants:

- ros-base: 
    stacks: [ros, ros_comm]

- ros-extras: 
    extends: ros-base
    stacks: [rx, documentation]

- viz:
    stacks: [rx, visualization_common, visualization]

- robot:
    extends: ros-base
    stacks: [common_msgs, common, diagnostics, driver_common, geometry, robot_model, executive_smach]

- simulators:
    extends: robot
    stacks: [simulator_stage, simulator_gazebo, physics_ode]

- mobile:
    extends: robot
    stacks: [navigation, slam_gmapping]

- perception:
    stacks: [image_common, image_transport_plugins, image_pipeline, laser_pipeline, perception_pcl, vision_opencv]

- desktop:
    extends: robot, viz
    stacks: [ros_tutorials, common_tutorials, geometry_tutorials, visualization_tutorials]

- desktop-extras:
    extends: desktop, mobile, perception, simulators

- move-arm:
    stacks: [arm_navigation, kinematics, motion_planners, motion_planning_common,
      object_manipulation, trajectory_filters]

pr2

- pr2-base:
    extends: mobile, perception, move-arm
    stacks: [pr2_common, pr2_controllers, pr2_mechanism, pr2_robot, web_interface, pr2_calibration, pr2_navigation, pr2_kinematics, pr2_arm_navigation, pr2_arm_navigation_tests, pr2_object_manipulation, pr2_tabletop_manipulation_apps, tabletop_object_perception, sql_database]

- pr2
    extends: pr2-base
    stacks: [pr2_ethercat_drivers, 
      pr2_power_drivers, camera_drivers, laser_drivers, sound_drivers, wifi_drivers]

- pr2-desktop:
    extends: desktop-full, pr2-base
    stacks: [pr2_gui, pr2_simulator]

- pr2-applications:
    extends: pr2
    stacks: [pr2_apps, pr2_common_actions, pr2_doors, pr2_navigation_apps,
      pr2_plugs, pr2_self_test, pr2_web_apps]

wg

- wg-pr2:
   extends: pr2, pr2-applications
   stacks: [wg_common, wg_pr2_apps]

care-o-bot

- care-o-bot:
    stacks: [cob_extern, cob_common, cob_driver, cob_simulation, cob_apps]

bosch

- bosch:
    stacks: [bosch_drivers, bosch_skin, exploration, ocr, pr2_exploration]

nxt-extras

- nxt-extras
    stacks: nxt, nxt_apps, nxt_robots

alufr

- alufr:
    stacks: [freiburg_tools, articulation, octomap_mapping, 

utexas-art

- utexas-art:
    extends: base
    stacks: [art_vehicle, velodyne]

tum

- tum:
    stacks: [cram_pl, mapping]