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My recommendation would be to install barebones then install specific packages that you need selectively, either by using apt-get or manually. The good thing about most of ROS stacks is their graphics-required packages are decoupled from the core packages. As a result, it is not that much important if you install stacks with graphical packages inside, on a computer not running X.
In our Pioneer robots, we usually install the barebone then add the driver and navigation stack without worrying about stacks being all non-graphical.
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My recommendation would be to install barebones first then install specific packages that you need selectively, either by using apt-get or manually. The good thing about most of ROS stacks is their graphics-required packages are decoupled from the core packages. As a result, it is not that much important if you install stacks with graphical packages inside, on a computer not running X.
In our Pioneer robots, we usually install the barebone then add the driver and navigation stack without worrying about stacks being all non-graphical.
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