diff --git a/lidar.proto b/lidar.proto
new file mode 100644
index 0000000..137488d
--- /dev/null
+++ b/lidar.proto
@@ -0,0 +1,19 @@
+// Version 1.0
+syntax = "proto3";
+import "version.proto";
+
+message LidarCartesianPoint {
+    float x = 1;
+    float y = 2;
+}
+
+message LidarPolarPoint {
+    float angle = 1;
+    float distance = 2;
+}
+
+message LidarPointCloud {
+    repeated LidarCartesianPoint cartesian = 1;
+    repeated LidarPolarPoint polar = 2;
+    Version version = 3;
+}
\ No newline at end of file