diff --git a/Messaging/message_factory.py b/Messaging/message_factory.py
index fa24312..814e26a 100644
--- a/Messaging/message_factory.py
+++ b/Messaging/message_factory.py
@@ -32,6 +32,23 @@ class BluetoothStreamer:
     def send_message(self, message_bytes):
         pass
 
+class TestStreamer:
+    def __init__(self):
+        self._listeners = []
+
+    def send_message(self, message_bytes):
+        print('Got a message')
+
+    def send_message_topic(self, topic, message):
+        print('Got a message with topic: ' + str(topic))
+        self._fire_message_received(message)
+
+    def add_message_listener(self, listener):
+        self._listeners.append(listener)
+
+    def _fire_message_received(self, message):
+        for listener in self._listeners:
+            listener(message)
 
 def getZmqPubSubStreamer(port):
     '''
@@ -39,3 +56,6 @@ def getZmqPubSubStreamer(port):
     to use it. 
     '''
     return ZmqPubSubStreamer(port)
+
+def getTestingStreamer():
+    return TestStreamer()
\ No newline at end of file
diff --git a/tracking/lidar_tester.py b/tracking/lidar_tester.py
new file mode 100644
index 0000000..d41215d
--- /dev/null
+++ b/tracking/lidar_tester.py
@@ -0,0 +1,5 @@
+from tracking.lidar_cache import LidarCache
+import Messaging.message_factory as mf
+
+
+