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Are you sure that the nodes providing the services that fail are still running (i.e. they didn't segfault). If these nodes are written in C++, are they spinning (i.e. is ros::spin() called or is ros::spinOnce() executed periodically)?

These connection errors normally occur when a node didn't unregister cleanly from the master. That happens when they are killed with SIGKILL or when the nodes segfault. To find out which node is providing a service, you can use rosservice info, e.g. rosservice info foo. Then do a rosnode info <node name> to find out if the node is still alive.