Add services examples (eProsima#16)

* Add services docs to readme

Signed-off-by: Jose Antonio Moral <[email protected]>

* Fix link

Signed-off-by: Jose Antonio Moral <[email protected]>

README.md

@@ -144,21 +144,23 @@ For a detailed step by step guide on how to build and test this example, please
 [dedicated section](https://integration-service.docs.eprosima.com/en/latest/examples/different_protocols/pubsub/fiware-ros2.html) in the official documentation.
 
 
-<!-- TODO: add YAML and applications for DDS and ROS2 to test this
-### ROS 2 service server addressing petitions coming from a DDS service client
+<a href="https://integration-service.docs.eprosima.com/en/latest/examples/different_protocols/services/ros2-server.html"><img align="left" width="15" height="38" src="https://via.placeholder.com/15/40c15d/000000?text=+" alt="Green icon"></a>
 
-The configuration file for this example can be found
-[here](TODO).
+### ROS 2 service server
+
+In this example, the *ROS 2 System Handle* tackles the task of bridging a ROS 2 server with one or more client applications,
+playing the role of a service server capable of processing incoming requests from several middlewares (*DDS*, *ROS1*,
+*WebSocket*) and producing an appropriate answer for them.
 
-Below, a high level diagram is presented, showing which entities will *Integration Service* create
-to forward the petitions requested from a ROS 2 client application to a ROS 2 service server application,
-which will process them and produce a reply message which will be transmited back to the DDS client:
+<p align="center">
+  <a href="https://integration-service.docs.eprosima.com/en/latest/examples/different_protocols/services/ros2-server.html"><img src="docs/images/ros2_services_example.png" width="550"></a>
+</p>
 
-![ROS2_server_and_DDS_client](TODO)
+The configuration file used by *Integration Service* for this example can be found
+[here](https://github.com/eProsima/Integration-Service/blob/main/examples/basic/ros2_server__addtwoints.yaml).
 
 For a detailed step by step guide on how to build and test this example, please refer to the
-[official documentation](TODO: link).
--->
+[dedicated section](https://integration-service.docs.eprosima.com/en/latest/examples/different_protocols/services/ros2-server.html) in the official documentation.
 
 <a href="https://integration-service.docs.eprosima.com/en/latest/examples/same_protocol/ros2_change_domain.html"><img align="left" width="15" height="38" src="https://via.placeholder.com/15/40c15d/000000?text=+" alt="Green icon"></a>
 
@@ -226,10 +228,14 @@ whole *Integration Service* product suite, there are some specific flags which a
   ~/is_ws$ colcon build --cmake-args -DMIX_ROS_PACKAGES="std_msgs geometry_msgs" -DMIX_ROS2_PACKAGES="dummy_msgs"
   ```
 
-<!-- TODO: complete when it is uploaded to read the docs
-## API Reference
--->
+## Documentation
+
+The official documentation for the *ROS 2 System Handle* is included within the official *Integration Service*
+documentation, hosted by [Read the Docs](https://integration-service.docs.eprosima.com/), and comprises the following sections:
 
+* [Installation Manual](https://integration-service.docs.eprosima.com/en/latest/installation_manual/installation_manual.html)
+* [User Manual](https://integration-service.docs.eprosima.com/en/latest/user_manual/systemhandle/ros2_sh.html)
+* [API Reference](https://integration-service.docs.eprosima.com/en/latest/api_reference/ros2_sh/api_is_ros2_sh.html)
 ## License
 
 This repository is open-sourced under the *Apache-2.0* license. See the [LICENSE](LICENSE) file for more details.