Add in REP-150: updated metapackages for ROS Melodic (#144)

* Add in REP-150

Signed-off-by: Chris Lalancette <[email protected]>

* Fixes from review.

1.  Add Tully back as one of the authors.
2.  Remove collada_urdf from the packages for robot.
3.  Remove all language prior to Melodic.
4.  Fix the desktop_full variant to make urdf_tutorial a package.

Signed-off-by: Chris Lalancette <[email protected]>

* Add urdf_sim_tutorial to the list of packages in desktop_full.

Signed-off-by: Chris Lalancette <[email protected]>

* Fix up the wording around urdf tutorials.

Signed-off-by: Chris Lalancette <[email protected]>

* Move the changes up to the Motivation section.

Signed-off-by: Chris Lalancette <[email protected]>

* Fix Tully's email address.

Signed-off-by: Chris Lalancette <[email protected]>

* Update Tully's email address everwhere.

* Move urdf_tutorial into desktop.

* Remove an obsolete comment.

Signed-off-by: Chris Lalancette <[email protected]>

* More fixes from review.

Signed-off-by: Chris Lalancette <[email protected]>

* Remove duplicate rosconsole_bridge.

Signed-off-by: Chris Lalancette <[email protected]>

* More fixes from review.

1.  Make ros and ros_comm packages as part of ros_core
2.  Restore rosgraph_msgs and std_srvs as part of ros_core
3.  Add angles to desktop

Signed-off-by: Chris Lalancette <[email protected]>

rep-0003.rst

@@ -1,6 +1,6 @@
 REP: 3
 Title: Target Platforms
-Author: Tully Foote <tfoote@willowgarage.com>, Ken Conley <[email protected]>
+Author: Tully Foote <tfoote@openrobotics.org>, Ken Conley <[email protected]>
 Status: Active
 Type: Informational
 Content-Type: text/x-rst

rep-0100.rst

@@ -1,6 +1,6 @@
 REP: 100
 Title: ROS Stack Separation
-Author: Tully Foote <tfoote@willowgarage.com>, Ken Conley <[email protected]>, Brian Gerkey <[email protected]>
+Author: Tully Foote <tfoote@openrobotics.org>, Ken Conley <[email protected]>, Brian Gerkey <[email protected]>
 Status: Final
 Type: Standards Track
 Content-Type: text/x-rst

rep-0107.rst

@@ -1,6 +1,6 @@
 REP: 107
 Title: Diagnostic System for Robots Running ROS
-Author: Tully Foote <tfoote@willowgarage.com>
+Author: Tully Foote <tfoote@openrobotics.org>
 Status: Final
 Type: Standards Track
 Content-Type: text/x-rst

rep-0131.rst

@@ -1,6 +1,6 @@
 REP: 131
 Title: ROS Groovy Variants
-Author: Tully Foote <tfoote@willowgarage.com>
+Author: Tully Foote <tfoote@openrobotics.org>
 Status: Active
 Type: Informational
 Content-Type: text/x-rst

rep-0133.rst

@@ -1,6 +1,6 @@
 REP: 133
 Title: Separation of build environment and source tree tools
-Author: Tully Foote <tfoote@willowgarage.com>, Dirk Thomas, Thibault Kruse <[email protected]>, William Woodall <[email protected]>
+Author: Tully Foote <tfoote@openrobotics.org>, Dirk Thomas, Thibault Kruse <[email protected]>, William Woodall <[email protected]>
 Status: Active
 Type: Informational
 Content-Type: text/x-rst

rep-0142.rst

@@ -1,6 +1,6 @@
 REP: 142
 Title: ROS Indigo and Newer Metapackages
-Author: Tully Foote <tfoote@willowgarage.com>
+Author: Tully Foote <tfoote@openrobotics.org>
 Status: Active
 Type: Informational
 Content-Type: text/x-rst

rep-0150.rst

@@ -0,0 +1,205 @@
+REP: 150
+Title: ROS Melodic and Newer Metapackages
+Author: Tully Foote <[email protected]>, Chris Lalancette <[email protected]>
+Status: Active
+Type: Informational
+Content-Type: text/x-rst
+Created: 03-Nov-2017
+Post-History:
+
+
+Abstract
+========
+
+This REP describes the metapackages for the ROS Melodic release and for releases that follow until otherwise replaced by a similar update REP.
+This REP updates REP 131 [3]_ and REP 142 [5]_ for changes in packages.
+
+
+Motivation
+==========
+
+For a discussion on the general motivation and role of variants,
+please see REP 108 [1]_.
+
+As of ROS Hydro we have completed the transition to using
+metapackages instead of variants.
+For more information on metapackages see REP 127 [2]_.
+
+This document covers the common metapackages used for recommended
+installations.
+It is expressed in the ros/metapackages repository on github.com
+[4]_.
+
+This REP proposes the same entrypoints as REP 108 and merely updates
+the variant definitions to reflect the organizational changes in ROS
+stacks.
+In particular, in ROS Melodic the `robot` metapackage is contracted to remove
+`robot_model` and instead explicitly list the necessary packages.
+
+The definitions in this REP are more focused and concise for clearer
+purpose, and do not list all transitive dependencies explicitly.
+
+
+Specification
+=============
+
+End-user entry points
+---------------------
+
+We define the same three main entry points for ROS users as REP 108
+[1]_.
+
+ * desktop_full (recommended)
+ * desktop
+ * ros_base
+
+Metapackages
+------------
+
+ROS Core
+''''''''
+
+The `ros_core` metapackage composes the core communication protocols.
+It may not contain any GUI dependencies.
+
+::
+
+ - ros_core:
+      packages: [catkin, cmake_modules, common_msgs, gencpp, geneus, genlisp,
+                 genmsg, gennodejs, genpy, message_generation, message_runtime,
+                 ros, ros_comm, rosbag_migration_rule, rosconsole_bridge,
+                 roscpp_core, rosgraph_msgs, roslisp, rospack, std_msgs, std_srvs]
+
+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: [actionlib, bond_core, class_loader,
+                 dynamic_reconfigure, nodelet_core,
+                 pluginlib]
+
+Robot metapackage
+'''''''''''''''''
+
+The `robot` metapackage is defined to be core, stable, ROS libraries
+for any robot hardware.
+It is the "general robotics" libraries of ROS.
+It may not contain any GUI dependencies.
+
+::
+
+  - robot:
+      extends: [ros_base]
+      packages: [control_msgs, diagnostics, executive_smach, filters, geometry,
+                 joint_state_publisher, kdl_parser, kdl_parser_py,
+                 robot_state_publisher, urdf, urdf_parser_plugin, xacro]
+
+Capability variants
+'''''''''''''''''''
+
+The capability variants organize commonly used libraries that are
+specific to a class of use case.
+We also define a `simulators` variant that provides an organizational
+role for higher-level variants.
+We discourage GUI dependencies in these stacks, if possible.
+
+::
+
+  - perception:
+      extends: [ros_base]
+      packages: [image_common, image_pipeline,
+                 image_transport_plugins, laser_pipeline,
+                 perception_pcl, vision_opencv]
+
+  - simulators:
+      extends: [robot]
+      packages: [gazebo_ros_pkgs, rqt_common_plugins, rqt_robot_plugins,
+                 stage_ros]
+
+  - viz:
+      extends: [ros_base]
+      packages: [rqt_common_plugins, rqt_robot_plugins, rviz]
+
+Desktop variants
+''''''''''''''''
+
+The `desktop` variants are main entry points for users.
+The `desktop_full` is a "batteries included" experience for users and
+attempts to collect stable, well-documented libraries.
+These libraries may be specific to certain classes of robots, such as
+mobile robots, though they are not specific to a particular robot.
+The `desktop` variant is more minimal and only provides the stacks in
+the `robot` variant, plus visualization and debugging tools.
+Both of these variants contain tutorials for the stacks they provide.
+
+::
+
+  - desktop:
+      extends: [robot, viz]
+      packages: [angles, common_tutorials, geometry_tutorials, ros_tutorials,
+                 roslint, urdf_tutorial, visualization_tutorials]
+  - desktop_full:
+      extends: [desktop, perception, simulators]
+      packages: [urdf_sim_tutorial]
+
+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.
+
+
+Backwards Compatibility
+=======================
+
+The metapackages in this REP provide the same semantic top level
+entry points while simplifying the definitions.
+
+
+References
+==========
+
+.. [1] REP 108: Diamondback Variants
+   (http://www.ros.org/reps/rep-0108.html)
+
+.. [2] REP 127: Specification of package manifest format
+   (http://ros.org/reps/rep-0127.html)
+
+.. [3] REP 131: Groovy Variants
+   (http://www.ros.org/reps/rep-0131.html)
+
+.. [4] ROS Metapackages Repository
+   (https://github.com/ros/metapackages)
+
+.. [5] REP 142: Indigo Variants
+   (http://www.ros.org/reps/rep-0142.html)
+
+
+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: