updated srv def, src dir, readme

custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_service_two.cpp

+#include "rclcpp/rclcpp.hpp"
+#include <nav_msgs/msg/path.hpp>
+#include "custom_bridge_msgs/srv/custom_service_two.hpp"
+
+class DummyCustomServiceTwo : public rclcpp::Node
+{
+public:
+    DummyCustomServiceTwo() : Node("custom_service_topic")
+    {
+        service_ = this->create_service<custom_bridge_msgs::srv::CustomServiceTwo>(
+            "custom_service_topic",
+            std::bind(&DummyCustomServiceTwo::service_callback, this, std::placeholders::_1, std::placeholders::_2));
+    }
+
+private:
+    void service_callback(
+        const std::shared_ptr<custom_bridge_msgs::srv::CustomServiceTwo::Request> request,
+        std::shared_ptr<custom_bridge_msgs::srv::CustomServiceTwo::Response> response)
+    {
+        RCLCPP_INFO_STREAM(this->get_logger(), "Received CustomServiceTwo request (empty), populating response obj");
+        response->success = true;
+        response->reward = 10.0;
+        response->iterations = 200;
+        response->path = nav_msgs::msg::Path();
+
+        response->path.header.frame_id = "map";
+        response->path.header.stamp = this->get_clock()->now();
+
+    }
+
+    rclcpp::Service<custom_bridge_msgs::srv::CustomServiceTwo>::SharedPtr service_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<DummyCustomServiceTwo>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv → custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv

-# decmcts_msgs/StartPlanning
-# https://gitlab.com/dst-uts-aerial/decmcts_msgs/-/blob/master/srv/StartPlanning.srv
 
 geometry_msgs/PoseStamped start_pose
 float32 horizon_m

custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv

+
+---
+bool success
+float32 reward
+int32   iterations
+nav_msgs/Path path
\ No newline at end of file

run.sh

 
+if [ "$1" = "--help" ] || [ "$1" == "-h" ]; then
+    echo "custom bridge jammy help menu - build images / run containers"
+    echo "      -b          (default)  build custom_bridge_jammy using ros2_from_src"
+    echo "      -r                      start container from default image"
+    echo ""
+    echo "      --help                 print help menu"
+    exit 0
+fi
+
+OS="jammy"
+image="custom_bridge_example_$OS"
 
 if [ "$1" == "-b" ]; then
-    docker build -f custom_bridge.Dockerfile -t custom_bridge_example:jammy .
+    echo "default build"
+    image+="latest"
+    docker build -f custom_bridge.Dockerfile -t $image .
+    exit 0
 
-else
 
-    docker run \
-        -it \
-        --rm \
-        --user "0" \
-        -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-        --env DISPLAY=$DISPLAY \
-        --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics \
-        --env NVIDIA_VISIBLE_DEVICES=all \
-        --name ros1_bridge_example3 \
-        ros1_bridge_example_cb:jammy \
-        "/bin/bash"
+elif [ "$1" == "-r" ]; then
+    image+="latest"
 
+
+else
+    echo "no options selected"
+    exit 0
 fi
+
+name="custom_bridge_example_$OS""_tmp"
+
+
+docker run \
+    -it \
+    --rm \
+    --user "0" \
+    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+    --env DISPLAY=$DISPLAY \
+    --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics \
+    --env NVIDIA_VISIBLE_DEVICES=all \
+    --name $name \
+    $image \
+    "/bin/bash"
+
+