You don't necessarily need a judge to tell you that you are doing the right thing or taking the right decision. What is moral in a society or by religion doesn't require much explanations to understand. However, there are certain circumstances that a person with conscience will have to ask him/her self if the path is right or wrong. So, in my sincere tterm, doing the right thing or taking the right decisions doesn't necessarily need to satisfy everybody rather than to make sure the conscience is muchly clear.
We live in a world where many people do not find it important to ask them self is what they are doing is right or not. But trust me, when you're doing the right thing, you will notice a vision ahead and even the people which might not be all but larger number will be happy. Putting smile in people's face is a typical example, once they are happy surely they will show appreciation and that will trigger your satisfaction.
Though taking right decision depends on individuals definition, because even the evil believes he/she is doing yheright thing.but you will only know by the reactions by the truthful majority.