diff --git a/lidar/lidarService_pb2.py b/lidar/lidarService_pb2.py
new file mode 100644
index 0000000..d628c11
--- /dev/null
+++ b/lidar/lidarService_pb2.py
@@ -0,0 +1,241 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: lidarService.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='lidarService.proto',
+  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')
+)
+
+
+
+
+_LIDARMAP = _descriptor.Descriptor(
+  name='LidarMap',
+  full_name='lidar.LidarMap',
+  filename=None,
+  file=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,
+      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=29,
+  serialized_end=61,
+)
+
+
+_LIDARREQUEST = _descriptor.Descriptor(
+  name='LidarRequest',
+  full_name='lidar.LidarRequest',
+  filename=None,
+  file=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,
+      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,
+      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,
+      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=63,
+  serialized_end=132,
+)
+
+
+_STOPREQUEST = _descriptor.Descriptor(
+  name='StopRequest',
+  full_name='lidar.StopRequest',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='stop', full_name='lidar.StopRequest.stop', index=0,
+      number=1, 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),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=134,
+  serialized_end=161,
+)
+
+
+_STOPRESPONSE = _descriptor.Descriptor(
+  name='StopResponse',
+  full_name='lidar.StopResponse',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='stopped', full_name='lidar.StopResponse.stopped', index=0,
+      number=1, 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),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=163,
+  serialized_end=194,
+)
+
+DESCRIPTOR.message_types_by_name['LidarMap'] = _LIDARMAP
+DESCRIPTOR.message_types_by_name['LidarRequest'] = _LIDARREQUEST
+DESCRIPTOR.message_types_by_name['StopRequest'] = _STOPREQUEST
+DESCRIPTOR.message_types_by_name['StopResponse'] = _STOPRESPONSE
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+LidarMap = _reflection.GeneratedProtocolMessageType('LidarMap', (_message.Message,), {
+  'DESCRIPTOR' : _LIDARMAP,
+  '__module__' : 'lidarService_pb2'
+  # @@protoc_insertion_point(class_scope:lidar.LidarMap)
+  })
+_sym_db.RegisterMessage(LidarMap)
+
+LidarRequest = _reflection.GeneratedProtocolMessageType('LidarRequest', (_message.Message,), {
+  'DESCRIPTOR' : _LIDARREQUEST,
+  '__module__' : 'lidarService_pb2'
+  # @@protoc_insertion_point(class_scope:lidar.LidarRequest)
+  })
+_sym_db.RegisterMessage(LidarRequest)
+
+StopRequest = _reflection.GeneratedProtocolMessageType('StopRequest', (_message.Message,), {
+  'DESCRIPTOR' : _STOPREQUEST,
+  '__module__' : 'lidarService_pb2'
+  # @@protoc_insertion_point(class_scope:lidar.StopRequest)
+  })
+_sym_db.RegisterMessage(StopRequest)
+
+StopResponse = _reflection.GeneratedProtocolMessageType('StopResponse', (_message.Message,), {
+  'DESCRIPTOR' : _STOPRESPONSE,
+  '__module__' : 'lidarService_pb2'
+  # @@protoc_insertion_point(class_scope:lidar.StopResponse)
+  })
+_sym_db.RegisterMessage(StopResponse)
+
+
+
+_LIDARSERVICE = _descriptor.ServiceDescriptor(
+  name='LidarService',
+  full_name='lidar.LidarService',
+  file=DESCRIPTOR,
+  index=0,
+  serialized_options=None,
+  serialized_start=196,
+  serialized_end=314,
+  methods=[
+  _descriptor.MethodDescriptor(
+    name='GetMaps',
+    full_name='lidar.LidarService.GetMaps',
+    index=0,
+    containing_service=None,
+    input_type=_LIDARREQUEST,
+    output_type=_LIDARMAP,
+    serialized_options=None,
+  ),
+  _descriptor.MethodDescriptor(
+    name='Stop',
+    full_name='lidar.LidarService.Stop',
+    index=1,
+    containing_service=None,
+    input_type=_STOPREQUEST,
+    output_type=_STOPRESPONSE,
+    serialized_options=None,
+  ),
+])
+_sym_db.RegisterServiceDescriptor(_LIDARSERVICE)
+
+DESCRIPTOR.services_by_name['LidarService'] = _LIDARSERVICE
+
+# @@protoc_insertion_point(module_scope)
diff --git a/lidar/lidarService_pb2_grpc.py b/lidar/lidarService_pb2_grpc.py
new file mode 100644
index 0000000..e983b96
--- /dev/null
+++ b/lidar/lidarService_pb2_grpc.py
@@ -0,0 +1,63 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+import grpc
+
+import lidarService_pb2 as lidarService__pb2
+
+
+class LidarServiceStub(object):
+  # missing associated documentation comment in .proto file
+  pass
+
+  def __init__(self, channel):
+    """Constructor.
+
+    Args:
+      channel: A grpc.Channel.
+    """
+    self.GetMaps = channel.unary_stream(
+        '/lidar.LidarService/GetMaps',
+        request_serializer=lidarService__pb2.LidarRequest.SerializeToString,
+        response_deserializer=lidarService__pb2.LidarMap.FromString,
+        )
+    self.Stop = channel.unary_unary(
+        '/lidar.LidarService/Stop',
+        request_serializer=lidarService__pb2.StopRequest.SerializeToString,
+        response_deserializer=lidarService__pb2.StopResponse.FromString,
+        )
+
+
+class LidarServiceServicer(object):
+  # missing associated documentation comment in .proto file
+  pass
+
+  def GetMaps(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(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_LidarServiceServicer_to_server(servicer, server):
+  rpc_method_handlers = {
+      'GetMaps': grpc.unary_stream_rpc_method_handler(
+          servicer.GetMaps,
+          request_deserializer=lidarService__pb2.LidarRequest.FromString,
+          response_serializer=lidarService__pb2.LidarMap.SerializeToString,
+      ),
+      'Stop': grpc.unary_unary_rpc_method_handler(
+          servicer.Stop,
+          request_deserializer=lidarService__pb2.StopRequest.FromString,
+          response_serializer=lidarService__pb2.StopResponse.SerializeToString,
+      ),
+  }
+  generic_handler = grpc.method_handlers_generic_handler(
+      'lidar.LidarService', rpc_method_handlers)
+  server.add_generic_rpc_handlers((generic_handler,))
diff --git a/lidar/protos/lidarService.proto b/lidar/protos/lidarService.proto
new file mode 100644
index 0000000..796c561
--- /dev/null
+++ b/lidar/protos/lidarService.proto
@@ -0,0 +1,28 @@
+syntax = "proto3";
+
+package lidar;
+
+message LidarMap{
+    repeated int32 x = 1;
+    repeated int32 y = 2;
+}
+
+message LidarRequest{
+    bool continuous = 1;
+    int32 readRate = 2;
+    int32 numMaps = 3;
+}
+
+message StopRequest{
+    bool stop = 1;
+}
+
+message StopResponse{
+    bool stopped = 1;
+}
+
+
+service LidarService{
+    rpc GetMaps(LidarRequest) returns (stream LidarMap) {}
+    rpc Stop(StopRequest) returns (StopResponse) {}
+}