diff --git a/persontracking/lidar_tracker_pb2.py b/persontracking/lidar_tracker_pb2.py
new file mode 100644
index 0000000..38c0bdf
--- /dev/null
+++ b/persontracking/lidar_tracker_pb2.py
@@ -0,0 +1,238 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: lidar_tracker.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='lidar_tracker.proto',
+  package='persontracking',
+  syntax='proto3',
+  serialized_options=_b('\n\031com.example.carcontrollerB\021MotorServiceProtoP\001'),
+  serialized_pb=_b('\n\x13lidar_tracker.proto\x12\x0epersontracking\"\x1b\n\nInt32Value\x12\r\n\x05value\x18\x01 \x01(\x05\"\x07\n\x05\x45mpty\">\n\x05Point\x12\r\n\x05\x61ngle\x18\x01 \x01(\x01\x12\x10\n\x08\x64istance\x18\x02 \x01(\x05\x12\x14\n\x0cgroup_number\x18\x03 \x01(\x05\"2\n\tPointScan\x12%\n\x06points\x18\x01 \x03(\x0b\x32\x15.persontracking.Point2\xe1\x01\n\x0ePersonTracking\x12I\n\x12set_tracking_group\x12\x1a.persontracking.Int32Value\x1a\x15.persontracking.Empty\"\x00\x12?\n\rstop_tracking\x12\x15.persontracking.Empty\x1a\x15.persontracking.Empty\"\x00\x12\x43\n\rget_scan_data\x12\x15.persontracking.Empty\x1a\x19.persontracking.PointScan\"\x00\x42\x30\n\x19\x63om.example.carcontrollerB\x11MotorServiceProtoP\x01\x62\x06proto3')
+)
+
+
+
+
+_INT32VALUE = _descriptor.Descriptor(
+  name='Int32Value',
+  full_name='persontracking.Int32Value',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='value', full_name='persontracking.Int32Value.value', 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),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=39,
+  serialized_end=66,
+)
+
+
+_EMPTY = _descriptor.Descriptor(
+  name='Empty',
+  full_name='persontracking.Empty',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=68,
+  serialized_end=75,
+)
+
+
+_POINT = _descriptor.Descriptor(
+  name='Point',
+  full_name='persontracking.Point',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='angle', full_name='persontracking.Point.angle', index=0,
+      number=1, type=1, cpp_type=5, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='distance', full_name='persontracking.Point.distance', 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='group_number', full_name='persontracking.Point.group_number', index=2,
+      number=3, 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),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=77,
+  serialized_end=139,
+)
+
+
+_POINTSCAN = _descriptor.Descriptor(
+  name='PointScan',
+  full_name='persontracking.PointScan',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='points', full_name='persontracking.PointScan.points', 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,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=141,
+  serialized_end=191,
+)
+
+_POINTSCAN.fields_by_name['points'].message_type = _POINT
+DESCRIPTOR.message_types_by_name['Int32Value'] = _INT32VALUE
+DESCRIPTOR.message_types_by_name['Empty'] = _EMPTY
+DESCRIPTOR.message_types_by_name['Point'] = _POINT
+DESCRIPTOR.message_types_by_name['PointScan'] = _POINTSCAN
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Int32Value = _reflection.GeneratedProtocolMessageType('Int32Value', (_message.Message,), {
+  'DESCRIPTOR' : _INT32VALUE,
+  '__module__' : 'lidar_tracker_pb2'
+  # @@protoc_insertion_point(class_scope:persontracking.Int32Value)
+  })
+_sym_db.RegisterMessage(Int32Value)
+
+Empty = _reflection.GeneratedProtocolMessageType('Empty', (_message.Message,), {
+  'DESCRIPTOR' : _EMPTY,
+  '__module__' : 'lidar_tracker_pb2'
+  # @@protoc_insertion_point(class_scope:persontracking.Empty)
+  })
+_sym_db.RegisterMessage(Empty)
+
+Point = _reflection.GeneratedProtocolMessageType('Point', (_message.Message,), {
+  'DESCRIPTOR' : _POINT,
+  '__module__' : 'lidar_tracker_pb2'
+  # @@protoc_insertion_point(class_scope:persontracking.Point)
+  })
+_sym_db.RegisterMessage(Point)
+
+PointScan = _reflection.GeneratedProtocolMessageType('PointScan', (_message.Message,), {
+  'DESCRIPTOR' : _POINTSCAN,
+  '__module__' : 'lidar_tracker_pb2'
+  # @@protoc_insertion_point(class_scope:persontracking.PointScan)
+  })
+_sym_db.RegisterMessage(PointScan)
+
+
+DESCRIPTOR._options = None
+
+_PERSONTRACKING = _descriptor.ServiceDescriptor(
+  name='PersonTracking',
+  full_name='persontracking.PersonTracking',
+  file=DESCRIPTOR,
+  index=0,
+  serialized_options=None,
+  serialized_start=194,
+  serialized_end=419,
+  methods=[
+  _descriptor.MethodDescriptor(
+    name='set_tracking_group',
+    full_name='persontracking.PersonTracking.set_tracking_group',
+    index=0,
+    containing_service=None,
+    input_type=_INT32VALUE,
+    output_type=_EMPTY,
+    serialized_options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='stop_tracking',
+    full_name='persontracking.PersonTracking.stop_tracking',
+    index=1,
+    containing_service=None,
+    input_type=_EMPTY,
+    output_type=_EMPTY,
+    serialized_options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='get_scan_data',
+    full_name='persontracking.PersonTracking.get_scan_data',
+    index=2,
+    containing_service=None,
+    input_type=_EMPTY,
+    output_type=_POINTSCAN,
+    serialized_options=None,
+  ),
+])
+_sym_db.RegisterServiceDescriptor(_PERSONTRACKING)
+
+DESCRIPTOR.services_by_name['PersonTracking'] = _PERSONTRACKING
+
+# @@protoc_insertion_point(module_scope)
diff --git a/persontracking/lidar_tracker_pb2_grpc.py b/persontracking/lidar_tracker_pb2_grpc.py
new file mode 100644
index 0000000..e614942
--- /dev/null
+++ b/persontracking/lidar_tracker_pb2_grpc.py
@@ -0,0 +1,80 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+import grpc
+
+import lidar_tracker_pb2 as lidar__tracker__pb2
+
+
+class PersonTrackingStub(object):
+  # missing associated documentation comment in .proto file
+  pass
+
+  def __init__(self, channel):
+    """Constructor.
+
+    Args:
+      channel: A grpc.Channel.
+    """
+    self.set_tracking_group = channel.unary_unary(
+        '/persontracking.PersonTracking/set_tracking_group',
+        request_serializer=lidar__tracker__pb2.Int32Value.SerializeToString,
+        response_deserializer=lidar__tracker__pb2.Empty.FromString,
+        )
+    self.stop_tracking = channel.unary_unary(
+        '/persontracking.PersonTracking/stop_tracking',
+        request_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+        response_deserializer=lidar__tracker__pb2.Empty.FromString,
+        )
+    self.get_scan_data = channel.unary_unary(
+        '/persontracking.PersonTracking/get_scan_data',
+        request_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+        response_deserializer=lidar__tracker__pb2.PointScan.FromString,
+        )
+
+
+class PersonTrackingServicer(object):
+  # missing associated documentation comment in .proto file
+  pass
+
+  def set_tracking_group(self, request, context):
+    # missing associated documentation comment in .proto file
+    pass
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def stop_tracking(self, request, context):
+    # missing associated documentation comment in .proto file
+    pass
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+  def get_scan_data(self, request, context):
+    # missing associated documentation comment in .proto file
+    pass
+    context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+    context.set_details('Method not implemented!')
+    raise NotImplementedError('Method not implemented!')
+
+
+def add_PersonTrackingServicer_to_server(servicer, server):
+  rpc_method_handlers = {
+      'set_tracking_group': grpc.unary_unary_rpc_method_handler(
+          servicer.set_tracking_group,
+          request_deserializer=lidar__tracker__pb2.Int32Value.FromString,
+          response_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+      ),
+      'stop_tracking': grpc.unary_unary_rpc_method_handler(
+          servicer.stop_tracking,
+          request_deserializer=lidar__tracker__pb2.Empty.FromString,
+          response_serializer=lidar__tracker__pb2.Empty.SerializeToString,
+      ),
+      'get_scan_data': grpc.unary_unary_rpc_method_handler(
+          servicer.get_scan_data,
+          request_deserializer=lidar__tracker__pb2.Empty.FromString,
+          response_serializer=lidar__tracker__pb2.PointScan.SerializeToString,
+      ),
+  }
+  generic_handler = grpc.method_handlers_generic_handler(
+      'persontracking.PersonTracking', rpc_method_handlers)
+  server.add_generic_rpc_handlers((generic_handler,))
diff --git a/persontracking/protos/lidar_tracker.proto b/persontracking/protos/lidar_tracker.proto
new file mode 100644
index 0000000..05c19bb
--- /dev/null
+++ b/persontracking/protos/lidar_tracker.proto
@@ -0,0 +1,33 @@
+syntax = "proto3";
+
+package persontracking;
+
+option java_multiple_files = true;
+option java_package = "com.example.carcontroller";
+option java_outer_classname = "MotorServiceProto";
+
+message Int32Value{
+    int32 value = 1;
+}
+
+message Empty{
+
+}
+
+message Point{
+    double angle = 1;
+    int32 distance = 2;
+    int32 group_number = 3;
+}
+
+message PointScan{
+    repeated Point points = 1;
+}
+
+service PersonTracking{
+    rpc set_tracking_group(Int32Value) returns (Empty) {}
+
+    rpc stop_tracking(Empty) returns (Empty) {}
+
+    rpc get_scan_data(Empty) returns (PointScan) {}
+}
\ No newline at end of file