Anyone know of escorts that offer service on the ferry crossing to uk?

Heading back to the uk next week by ferry rosslare to fishguard, thinking some company on ferry would help pass the 4 hour saling.
Have googled but cant find anything,
Can anybody tell me if it can be done or not?

thanks

Never heard of it before but sounds like a great idea. I would definitely be more interested in a ferry if that facility was available.