add reset robot pos and onoff lights by server

Assets/Scripts/ROSRobotLightServer.cs

@@ -0,0 +1,40 @@
+using UnityEngine;
+using Unity.Robotics.ROSTCPConnector;
+using RosMessageTypes.Std;
+
+public class ROSRobotLightServer : MonoBehaviour
+{
+    [SerializeField] private string serviceName = "/unity/trigger_event";
+    [SerializeField] public RobotLightOperation[] lightList;
+
+    private string status = "OFF";
+
+    void Start()
+    {
+        // Implement the service handler inside Unity
+        ROSConnection.GetOrCreateInstance().ImplementService<TriggerRequest, TriggerResponse>(serviceName, HandleTriggerRequest);
+    }
+
+    private TriggerResponse HandleTriggerRequest(TriggerRequest request)
+    {
+        // Perform your Unity-side logic here (e.g., reset simulation state)
+        bool wasSuccessful = TryExecuteUnityAction(); 
+        string responseMessage = wasSuccessful ? $"Headlights switched {status} successfully" : "Failed to run Unity light switch action";
+
+        // Construct and return the response
+        return new TriggerResponse
+        {
+            success = wasSuccessful,
+            message = responseMessage
+        };
+    }
+
+    private bool TryExecuteUnityAction()
+    {
+        foreach (var item in lightList)
+            item.light.intensity = item.light.intensity > .0f ? .0f : item.maxInensity;
+        status = lightList[0].light.intensity  > .0f ? "ON" : "OFF";
+        return true; 
+    }
+}
+