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Basically: if you plan to release different versions of the same code into different ROS distributions, have different branches. The main input into our release and other scripts is "what branch do I get the code from?"
As for tags, our release scripts will automatically produce release version tags automatically (i.e. common_msgs-1.4.0).
In our own development, branching policy depends on whether or not a stack has a stable API. If it has a stable API, then there is a branch per ROS distribution so that new features are not accidentally added to older releases. Our tools generally don't care what the branch is called. For SVN, we generally name this branch on the minor release series number, e.g. common_msgs-1.4
If it doesn't have a stable API, then branches are generally only used as convenient, and it doesn't really make sense to have branch names correspond to version numbers as things are not settled down.
Caveat: Hg is a bit annoying in that "named branches" are persistent. In general, this means I see practices like making clones of repos, mqs, bookmarks, anonymous branches, etc...
There is no breakdown of ROS repositories by VCS type that I am aware of. You could produce this easily by parsing
https://code.ros.org/svn/ros/stacks/rosorg/trunk/rosdoc_rosorg/repos.rosinstall
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