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I have a mini din connector (8 pin). Have used pin nos 1,3,5 and 7 with 1& 7 for Battery access.Roomba 531 which I am using dont have gyro.I have a pl2303 based usb to serial converter and then I have used MX232 for level conversions.

You can check my videos at;

1) Only Roomba being controlled : https://www.dropbox.com/s/fwez46vh1bwueo3/Turtlebot1-video-1.AVI

2) Completely assembled turtlebot roomba : https://www.dropbox.com/s/vvfgl8x2ihh5m6m/Turtlebot2.3gp

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