diff --git a/example/flutter_web_example/.gitignore b/example/flutter_web_example/.gitignore
deleted file mode 100644
index 50602ac..0000000
--- a/example/flutter_web_example/.gitignore
+++ /dev/null
@@ -1,11 +0,0 @@
-# Files and directories created by pub
-.dart_tool/
-.packages
-# Remove the following pattern if you wish to check in your lock file
-pubspec.lock
-
-# Conventional directory for build outputs
-build/
-
-# Directory created by dartdoc
-doc/api/
diff --git a/example/flutter_web_example/analysis_options.yaml b/example/flutter_web_example/analysis_options.yaml
deleted file mode 100644
index 4fce0e0..0000000
--- a/example/flutter_web_example/analysis_options.yaml
+++ /dev/null
@@ -1,13 +0,0 @@
-# Defines a default set of lint rules enforced for
-# projects at Google. For details and rationale,
-# see https://github.com/dart-lang/pedantic#enabled-lints.
-include: package:pedantic/analysis_options.yaml
-
-# For lint rules and documentation, see http://dart-lang.github.io/linter/lints.
-# Uncomment to specify additional rules.
-# linter:
-#   rules:
-#     - camel_case_types
-
-analyzer:
-  exclude: [build/**]
diff --git a/example/flutter_web_example/lib/main.dart b/example/flutter_web_example/lib/main.dart
deleted file mode 100644
index 49d839c..0000000
--- a/example/flutter_web_example/lib/main.dart
+++ /dev/null
@@ -1,94 +0,0 @@
-import 'package:flutter_web/material.dart';
-import 'package:roslib/roslib.dart';
-
-void main() => runApp(MyApp());
-
-class MyApp extends StatelessWidget {
-  // This widget is the root of your application.
-  @override
-  Widget build(BuildContext context) {
-    return MaterialApp(
-      title: 'Roslib Example',
-      theme: ThemeData(
-        primarySwatch: Colors.blue,
-      ),
-      home: MyHomePage(title: 'Flutter Demo Home Page'),
-    );
-  }
-}
-
-class MyHomePage extends StatefulWidget {
-  MyHomePage({Key key, this.title}) : super(key: key) {}
-
-  final String title;
-
-  @override
-  _MyHomePageState createState() => _MyHomePageState();
-}
-
-class _MyHomePageState extends State<MyHomePage> {
-  Ros ros;
-  Topic chatter;
-
-  @override
-  void initState() {
-    ros = Ros(url: 'ws://127.0.0.1:9090');
-    chatter = Topic(
-        ros: ros, name: '/chatter', type: "std_msgs/String", reconnectOnClose: true, queueLength: 10, queueSize: 10);
-    super.initState();
-  }
-
-  void initConnection() async {
-    ros.connect();
-    await chatter.subscribe();
-    setState(() {});
-  }
-
-  void destroyConnection() async {
-    await chatter.unsubscribe();
-    await ros.close();
-    setState(() {});
-  }
-
-  @override
-  Widget build(BuildContext context) {
-    return Scaffold(
-      appBar: AppBar(
-        title: Text('Roslib Example'),
-      ),
-      body: StreamBuilder<Object>(
-          stream: ros.statusStream,
-          builder: (context, snapshot) {
-            return Center(
-              child: Column(
-                crossAxisAlignment: CrossAxisAlignment.center,
-                mainAxisAlignment: MainAxisAlignment.center,
-                children: <Widget>[
-                  StreamBuilder(
-                    stream: chatter.subscription,
-                    builder: (context2, snapshot2) {
-                      if (snapshot2.hasData) {
-                        return Text('${snapshot2.data['msg']}');
-                      } else {
-                        return CircularProgressIndicator();
-                      }
-                    },
-                  ),
-                  ActionChip(
-                    label: Text(snapshot.data == Status.CONNECTED ? 'DISCONNECT' : 'CONNECT'),
-                    backgroundColor: snapshot.data == Status.CONNECTED ? Colors.green[300] : Colors.grey[300],
-                    onPressed: () {
-                      if (snapshot.data != Status.CONNECTED) {
-                        this.initConnection();
-                      } else {
-                        this.destroyConnection();
-                      }
-                    },
-                  ),
-                ],
-              ),
-            );
-          }),
-    );
-  }
-}
diff --git a/example/flutter_web_example/pubspec.yaml b/example/flutter_web_example/pubspec.yaml
deleted file mode 100644
index cfba3fb..0000000
--- a/example/flutter_web_example/pubspec.yaml
+++ /dev/null
@@ -1,29 +0,0 @@
-name: flutter_web_example
-description: An app built using Flutter for web
-
-environment:
-  # You must be using Flutter >=1.5.0 or Dart >=2.3.0
-  sdk: ">=2.3.0-dev.0.1 <3.0.0"
-
-dependencies:
-  flutter_web: any
-  flutter_web_ui: any
-  roslib: ^0.0.3
-  web_socket_channel: any
-
-dev_dependencies:
-  build_runner: ^1.4.0
-  build_web_compilers: ^2.0.0
-  pedantic: ^1.0.0
-
-dependency_overrides:
-  flutter_web:
-    git:
-      url: https://github.com/flutter/flutter_web
-      path: packages/flutter_web
-  flutter_web_ui:
-    git:
-      url: https://github.com/flutter/flutter_web
-      path: packages/flutter_web_ui
-  roslib:
-    path: ../../
diff --git a/example/flutter_web_example/web/index.html b/example/flutter_web_example/web/index.html
deleted file mode 100644
index b54ed98..0000000
--- a/example/flutter_web_example/web/index.html
+++ /dev/null
@@ -1,10 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-<head>
-  <meta charset="UTF-8">
-  <title></title>
-  <script defer src="main.dart.js" type="application/javascript"></script>
-</head>
-<body>
-</body>
-</html>
diff --git a/example/flutter_web_example/web/main.dart b/example/flutter_web_example/web/main.dart
deleted file mode 100644
index b85a3e7..0000000
--- a/example/flutter_web_example/web/main.dart
+++ /dev/null
@@ -1,7 +0,0 @@
-import 'package:flutter_web_ui/ui.dart' as ui;
-import 'package:flutter_web_example/main.dart' as app;
-
-main() async {
-  await ui.webOnlyInitializePlatform();
-  app.main();
-}
diff --git a/lib/core/service.dart b/lib/core/service.dart
index 7f1c05a..b5d6ea3 100644
--- a/lib/core/service.dart
+++ b/lib/core/service.dart
@@ -25,7 +25,7 @@ class Service {
   String type;
 
   /// Advertiser that is listened to for service requests when advertising.
-  Stream _advertiser;
+  StreamSubscription _advertiser;
 
   /// Checks whether or not the service is currently advertising.
   bool get isAdvertised => _advertiser != null;
@@ -70,16 +70,18 @@ class Service {
     // Listen for requests, forward them to the handler and then
     // send the response back to the ROS node.
     _advertiser = ros.stream
-        .where((message) => message['service'] == name)
+        .where((message) =>
+            message['service'] == name && message['op'] == 'call_service')
         .asyncMap((req) => handler(req['args']).then((resp) {
               ros.send(Request(
                 op: 'service_response',
-                id: req.id,
+                id: req['id'],
                 service: name,
                 values: resp ?? {},
                 result: resp != null,
               ));
-            }));
+            }))
+        .listen(null);
   }
 
   // Stop advertising the service.
@@ -89,6 +91,7 @@ class Service {
       op: 'unadvertise_service',
       service: name,
     ));
+    _advertiser?.cancel();
     _advertiser = null;
   }
 }
diff --git a/test/roslib_test.dart b/test/roslib_test.dart
index eef596f..86e3db1 100644
--- a/test/roslib_test.dart
+++ b/test/roslib_test.dart
@@ -71,6 +71,25 @@ void main() {
     expect(resp, {'sum': 3});
   });
 
+  test('host a service', () async {
+    final server = Service(
+      ros: ros,
+      name: '/add_two_ints_dart',
+      type: 'rospy_tutorials/AddTwoInts',
+    );
+    server.advertise((request) async {
+      return {'sum': request['a'] + request['b']};
+    });
+    final client = Service(
+      ros: ros,
+      name: '/add_two_ints_dart',
+      type: 'rospy_tutorials/AddTwoInts',
+    );
+    final req = {'a': 1, 'b': 2};
+    final resp = await client.call(req);
+    expect(resp, {'sum': 3});
+  });
+
   test('get and set a param value', () async {
     final param = Param(
       ros: ros,