In case this helps any readers, I worked it out:

I compiled *hardware/mycustomhardware/ *with the lunch shortcut *mmm. *The 
compiled .so file was then added to the system image because the .mk files 
are already edited to do so in the tutorial I followed. Note in the 
tutorial the manually compiled file is then pushed directly to a device, 
this didn't work for me and I couldn't get remounting the system partition 
on device to work either. 

The compiled .so file can be added to PRODUCT_COPY_FILES in the device 
specific mk file if need be, copy it to system/lib/hw/

Lastly, the tutorial incorrectly starts up the custom service in 
context.java, it's now in SystemService.java, and your service will need to 
be added to the SE Linux whitelist.

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