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Running ros across multiple machines -whether you call a service or not- is actually not a big problem thanks to the rosmaster.

What we did in our lab is as follows:

on the central/host/master computer:

export ROS_MASTER_URI=http://master_machine_name:11311
export ROS_IP=master_machine_ip

on the client computer(s):

export ROS_MASTER_URI=http://master_machine_ip:11311
export ROS_IP=client_machine_ip

You may also need to add master_machine_ip master_machine_name mapping to /etc/hosts file on the client machines so that they can ping master_machine_name.