Dynamically configure service bridges from YAML

[jacobperron]

Follow up to #10.

We can now bridge services, but it requires manually configuration due to needed typesupport information at compile-time. In order to support bridging services dynamically, we need better support at the RMW layer for generic services.

[antonyramsy]

is service support added to domain_bridge yet? I used domain bridge with the example YAML file from design_document to test services and actions. but it seems service and action don't work. I see lots of code related to service and action support in the repo but can't figure out what's wrong. also, there are no warnings, errors, or any kind of log to report.
any help and clearance of the issue would be appreciated

[jacobperron]

Services are supported if you configure the domain bridge in code (not YAML, which is why this issue exists).
Unfortunately, we don't have a good example of bridging services, though if someone would like to contribute one that might be nice :)

Here the example currently living on a fork that we used to test #26: ivanpauno@d82984c

[antonyramsy]

@jacobperron unfortunately I'm not good at CPP . so I can't contribute much. thanks for the help anyways. But I may try to bridge services according to the example.