Here's the easy way to renew brake fluid (yes, even with ABS!) and without needing an extra hand.
I have an oil changer that is useful for my boat in that it has a long plastic suction tube that goes into the bottom of the oilpan. It uses a shop vac to make the vacuum.
Awesomely, the plastic tube is the exact inside diameter as the brake bleeders on my bike!
1 Open your rear fluid reservoir. Suck out old brake fluid.
2: Refill with your favourite DOT 4 fluid
3: remove the dust cap from the right ABS controller, and put the vacuum hose on it. Turn on shop vac
4: crack open the bleeder, and watch the old scuzzy fluid escape, to be replaced by the new stuff you just poured into the reservior. Add more fluid as necessary - don't want to drain it dry or you'll have air bubbles in your line and possibly also in your ABS pump.
5: very gently pump the rear brake pedal, remembering that it should not ever be fully depressed to avoid ruining your master cylinder.
6: close the bleeder when you've flushed out the old fluid with new stuff. It will be more clear in the hose, just a few ounces is all it takes.
7: do the same thing on the bleeder at the caliper.
8: Repeat for the front brakes, but this has a much longer run so will take more.
This is what it looks like, draining at the front ABS pump:

9: Ride happily! Check brake function at low speed first. Brake feel is no different for me than before. ABS works both front and rear on my bike as I determined!!