I want to perform action on service (Menu service) while bundle registers itself in app. Symfony register all bundles on every request, so there should be an option to perform some actions as that time.
Not really sure what you mean, but you can use some kernel events to do some customisation. Have look at the: http://symfony.com/doc/current/book/internals.html#kernel-request-event
Or, you can do some action during the service compilation using the CompilerPass. Here's an explaination about the COmpiler PASs: http://richardmiller.co.uk/2012/02/15/symfony2-service-container-compiler-passes/
I used tagged service with CompilerPas - Maciej Pyszyński 2012-04-05 14:13