Fix lidar service to return a proper map.

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{