Installation of SICK lms200 laser

Since we are using the robot without its original computer, we are connecting both the SICK laser and the controller board to our laptops through a usb-serial cable.

Therefore we had to place a female db9 connector on the SICK laser data cable.


Just as a reminder, here is the configuration of the laser integration board and the db9 connector:

* Cable that goes from the laser to the laser integration board:
- Purple: gnd
- Green: rx
- Blue: tx

* Cable that goes from laser integration board to computer and db9 connector:
- White: rx : pin 2
- Black: tx : pin3
- Grey: gnd: pin 5
- Purple: dtr: pin4

Now, the ports we are using as default for each of the connections are

- Robot port: /dev/ttyUSB0
- Laser port: /dev/ttyUSB1