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Service discovery is one of the key requirements to realize the vision of the Internet of Things (IoT). Constrained application protocol (CoAP) is a well-accepted model that utilizes both centralized and distributed service discovery methods for lightweight and constrained IoT networks. Since CoAP is in its early stage of adoption for the IoT networks, it is important to select an efficient method for the service discovery requirement. In this paper, we implement both centralized and distributed models of the CoAP based service discovery techniques. We have used Contiki OS and Cooja simulator to build the experimental setup for our prototype systems. Our detailed empirical analysis finds the gaps in general CoAP based service discovery techniques to recommend further improvement scopes.