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Thrust
Jaap
Basic rule of thumb, bigger is more stopping power, smaller is better modulation.
And yeah, you can do bikepacking even on 140mm rotors, just don't expect to stop really fast. If you would go for 180mm you lock up your wheels really easy, but can stop very fast.
To make things more complex, if you go for mechanical calipers (instead of hydraulic) I would go a bit smaller since they don't have a lot of modulation. However, if you're gonna use some really sticky fat tyres with loads of grip you can go a size bigger on your rotors.
Hope it helps!