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I don't think that you really want a different distro. The main development platform for ROS is Ubuntu and also well supported is Debian. There are lots of variations on a theme for derivatives, but what you really want are alternative installers that have a smaller default set of packages instead of a different distribution
As a first pass you can use the Ubuntu Server installers for an install optimized for headless operations. And if you want more control you can use the network installer. See https://www.ubuntu.com/download/alternative-downloads
And of course since it's linux you can do way more such as create your own custom image to install. https://help.ubuntu.com/community/LiveCDCustomization or here: https://help.ubuntu.com/community/InstallCDCustomization
Or use the Debian variant: https://wiki.debian.org/DebianCustomCD
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