Add packages and dependencies to build ros_base variant

There are still two packages missing:
- turtlesim: has a qt dependency
- turtle_actionlib: depends on turtlesim
Are you sending a PR upstream for these changes?
I would suggest, as good practice, that as soon as you find these things you send a good PR for each of them and then add a comment here with a link to the PR so that the patch can be removed as the PRs get accepted.
What do you think?