Is there any material or can somebody describe how the ros service work? Not how to use it, but how it works inside. So I knew what to expect from it (for example timewise) and how to optimize my code. Or if there is some setting that could effect the code performence when using ros services.

EDIT

@gvdhoorn So basically I asked a question with a concrete problem I am trying to solve in this question. I need to bring the time it takes to request and respond to 1 ms or lower in order to have my code work in real-time.

Since nobody knows the answer to the previous question, I thought I could figure something out if I could study the inner working of the rosservice. But all the materials I found only focus on how to use rosservice, not how it works.