- Important documentation of this module (it was a mess)
- Fixed some errors in the code, and clean it.
- Fixed problem when the laser scans are rolled (roll = 180º)
- Improved visualization of the pattern in "debug" mode, by displaying each segment in a different color.
- Added new parameter to select the variable containing the laser scans.
- Removed unused parameters.
- changed the way the ACK from client works. Now it contains the username of the client. This is useful to start/end the sessionLog, since the username is necessary.