Clean up rust implementation, add lidar implementation in rust

protobuf/src/main/proto/car/slam/SlamController.proto

@@ -1,11 +1,11 @@
 syntax = "proto3";
 
+package SlamControl;
+
 option java_multiple_files = true;
 option java_package = "org.vato.carcontroller";
 option java_outer_classname = "SlamControllerProto";
 
-import "google/protobuf/empty.proto";
-
 message SlamDetails {
     int32 map_size_pixels = 1;
     int32 map_size_meters = 2;
@@ -26,10 +26,22 @@ message SlamScan{
     SlamLocation location = 2;
 }
 
+message StartMapStreamingResponse {
+
+}
+
+message StopStreamingRequest {
+
+}
+
+message StopStreamingResponse {
+
+}
+
 service SlamControl {
-    rpc start_map_streaming(SlamDetails) returns (google.protobuf.Empty) {}
+    rpc start_map_streaming(SlamDetails) returns (StartMapStreamingResponse) {}
 
     rpc map_stream(SlamDetails) returns (stream SlamScan) {}
 
-    rpc stop_streaming(google.protobuf.Empty) returns (google.protobuf.Empty) {}
+    rpc stop_streaming(StopStreamingRequest) returns (StopStreamingResponse) {}
 }