diff --git a/lidar/lidarService_pb2.py b/lidar/lidarService_pb2.py
index d628c11..f4ee178 100644
--- a/lidar/lidarService_pb2.py
+++ b/lidar/lidarService_pb2.py
@@ -20,7 +20,7 @@ DESCRIPTOR = _descriptor.FileDescriptor(
   package='lidar',
   syntax='proto3',
   serialized_options=None,
-  serialized_pb=_b('\n\x12lidarService.proto\x12\x05lidar\" \n\x08LidarMap\x12\t\n\x01x\x18\x01 \x03(\x05\x12\t\n\x01y\x18\x02 \x03(\x05\"E\n\x0cLidarRequest\x12\x12\n\ncontinuous\x18\x01 \x01(\x08\x12\x10\n\x08readRate\x18\x02 \x01(\x05\x12\x0f\n\x07numMaps\x18\x03 \x01(\x05\"\x1b\n\x0bStopRequest\x12\x0c\n\x04stop\x18\x01 \x01(\x08\"\x1f\n\x0cStopResponse\x12\x0f\n\x07stopped\x18\x01 \x01(\x08\x32v\n\x0cLidarService\x12\x33\n\x07GetMaps\x12\x13.lidar.LidarRequest\x1a\x0f.lidar.LidarMap\"\x00\x30\x01\x12\x31\n\x04Stop\x12\x12.lidar.StopRequest\x1a\x13.lidar.StopResponse\"\x00\x62\x06proto3')
+  serialized_pb=_b('\n\x12lidarService.proto\x12\x05lidar\"$\n\x08LidarMap\x12\x18\n\x04rows\x18\x01 \x03(\x0b\x32\n.lidar.Row\"\x10\n\x03Row\x12\t\n\x01x\x18\x01 \x03(\x05\"j\n\x0cLidarRequest\x12\x12\n\nnumColumns\x18\x01 \x01(\x05\x12\x0f\n\x07numRows\x18\x02 \x01(\x05\x12\x12\n\ncontinuous\x18\x03 \x01(\x08\x12\x10\n\x08readRate\x18\x04 \x01(\x05\x12\x0f\n\x07numMaps\x18\x05 \x01(\x05\"\x1b\n\x0bStopRequest\x12\x0c\n\x04stop\x18\x01 \x01(\x08\"\x1f\n\x0cStopResponse\x12\x0f\n\x07stopped\x18\x01 \x01(\x08\x32v\n\x0cLidarService\x12\x33\n\x07GetMaps\x12\x13.lidar.LidarRequest\x1a\x0f.lidar.LidarMap\"\x00\x30\x01\x12\x31\n\x04Stop\x12\x12.lidar.StopRequest\x1a\x13.lidar.StopResponse\"\x00\x62\x06proto3')
 )
 
 
@@ -34,15 +34,8 @@ _LIDARMAP = _descriptor.Descriptor(
   containing_type=None,
   fields=[
     _descriptor.FieldDescriptor(
-      name='x', full_name='lidar.LidarMap.x', index=0,
-      number=1, type=5, cpp_type=1, label=3,
-      has_default_value=False, default_value=[],
-      message_type=None, enum_type=None, containing_type=None,
-      is_extension=False, extension_scope=None,
-      serialized_options=None, file=DESCRIPTOR),
-    _descriptor.FieldDescriptor(
-      name='y', full_name='lidar.LidarMap.y', index=1,
-      number=2, type=5, cpp_type=1, label=3,
+      name='rows', full_name='lidar.LidarMap.rows', index=0,
+      number=1, type=11, cpp_type=10, label=3,
       has_default_value=False, default_value=[],
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
@@ -60,7 +53,38 @@ _LIDARMAP = _descriptor.Descriptor(
   oneofs=[
   ],
   serialized_start=29,
-  serialized_end=61,
+  serialized_end=65,
+)
+
+
+_ROW = _descriptor.Descriptor(
+  name='Row',
+  full_name='lidar.Row',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='x', full_name='lidar.Row.x', index=0,
+      number=1, type=5, cpp_type=1, label=3,
+      has_default_value=False, default_value=[],
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=67,
+  serialized_end=83,
 )
 
 
@@ -72,22 +96,36 @@ _LIDARREQUEST = _descriptor.Descriptor(
   containing_type=None,
   fields=[
     _descriptor.FieldDescriptor(
-      name='continuous', full_name='lidar.LidarRequest.continuous', index=0,
-      number=1, type=8, cpp_type=7, label=1,
-      has_default_value=False, default_value=False,
+      name='numColumns', full_name='lidar.LidarRequest.numColumns', index=0,
+      number=1, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
-      name='readRate', full_name='lidar.LidarRequest.readRate', index=1,
+      name='numRows', full_name='lidar.LidarRequest.numRows', index=1,
       number=2, type=5, cpp_type=1, label=1,
       has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
       serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
-      name='numMaps', full_name='lidar.LidarRequest.numMaps', index=2,
-      number=3, type=5, cpp_type=1, label=1,
+      name='continuous', full_name='lidar.LidarRequest.continuous', index=2,
+      number=3, type=8, cpp_type=7, label=1,
+      has_default_value=False, default_value=False,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='readRate', full_name='lidar.LidarRequest.readRate', index=3,
+      number=4, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='numMaps', full_name='lidar.LidarRequest.numMaps', index=4,
+      number=5, type=5, cpp_type=1, label=1,
       has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
@@ -104,8 +142,8 @@ _LIDARREQUEST = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=63,
-  serialized_end=132,
+  serialized_start=85,
+  serialized_end=191,
 )
 
 
@@ -135,8 +173,8 @@ _STOPREQUEST = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=134,
-  serialized_end=161,
+  serialized_start=193,
+  serialized_end=220,
 )
 
 
@@ -166,11 +204,13 @@ _STOPRESPONSE = _descriptor.Descriptor(
   extension_ranges=[],
   oneofs=[
   ],
-  serialized_start=163,
-  serialized_end=194,
+  serialized_start=222,
+  serialized_end=253,
 )
 
+_LIDARMAP.fields_by_name['rows'].message_type = _ROW
 DESCRIPTOR.message_types_by_name['LidarMap'] = _LIDARMAP
+DESCRIPTOR.message_types_by_name['Row'] = _ROW
 DESCRIPTOR.message_types_by_name['LidarRequest'] = _LIDARREQUEST
 DESCRIPTOR.message_types_by_name['StopRequest'] = _STOPREQUEST
 DESCRIPTOR.message_types_by_name['StopResponse'] = _STOPRESPONSE
@@ -183,6 +223,13 @@ LidarMap = _reflection.GeneratedProtocolMessageType('LidarMap', (_message.Messag
   })
 _sym_db.RegisterMessage(LidarMap)
 
+Row = _reflection.GeneratedProtocolMessageType('Row', (_message.Message,), {
+  'DESCRIPTOR' : _ROW,
+  '__module__' : 'lidarService_pb2'
+  # @@protoc_insertion_point(class_scope:lidar.Row)
+  })
+_sym_db.RegisterMessage(Row)
+
 LidarRequest = _reflection.GeneratedProtocolMessageType('LidarRequest', (_message.Message,), {
   'DESCRIPTOR' : _LIDARREQUEST,
   '__module__' : 'lidarService_pb2'
@@ -212,8 +259,8 @@ _LIDARSERVICE = _descriptor.ServiceDescriptor(
   file=DESCRIPTOR,
   index=0,
   serialized_options=None,
-  serialized_start=196,
-  serialized_end=314,
+  serialized_start=255,
+  serialized_end=373,
   methods=[
   _descriptor.MethodDescriptor(
     name='GetMaps',
diff --git a/lidar/protos/lidarService.proto b/lidar/protos/lidarService.proto
index 796c561..cb7d65a 100644
--- a/lidar/protos/lidarService.proto
+++ b/lidar/protos/lidarService.proto
@@ -3,14 +3,19 @@ syntax = "proto3";
 package lidar;
 
 message LidarMap{
+    repeated Row rows = 1;
+}
+
+message Row{
     repeated int32 x = 1;
-    repeated int32 y = 2;
 }
 
 message LidarRequest{
-    bool continuous = 1;
-    int32 readRate = 2;
-    int32 numMaps = 3;
+    int32 numColumns = 1;
+    int32 numRows = 2;
+    bool continuous = 3;
+    int32 readRate = 4;
+    int32 numMaps = 5;
 }
 
 message StopRequest{