Add LiDAR visualization w. example

[casparvv]

Adds LiDAR detection visualization and an example for the point robot. Also fixes a calculation error in the LiDAR processing.

[maxspahn]

@casparvv Do you want me to fix it?

[maxspahn]

@casparvv Thank you very much for this needed visualization of the lidar sensor.

I changed the location of your visualization function and slightly improved the code style.