Consume web service data with php

Hi, I'm sorry it's something simple for you, but I'm a novice in this ... I looked for information in San Google and I see everything confusing. I want to send this data or XML to a url that they gave me.

NOTE: I want to do it by php of preference, and if there is not, some method that is by js.

<soapenv:Envelope xmlns:soapenv="http://schemas.xmlsoap.org/soap/envelope/">
<soapenv:Header/>
<soapenv:Body>
<entrada>
<nroPedido>0090000003</nroPedido>
<listaItems>
<descItem>Producto1</descItem>
<cantItem>1</cantItem>
</listaItems>
<volumen>0.50 </volumen>
<tipoServicio>101</tipoServicio>
<codDistEntrega>13</codDistEntrega>
<nomDestEntrega>Juanito</nomDestEntrega>
<apellDestEntrega>Alimanha</apellDestEntrega>
<codTipoDocDestEntrega>109</codTipoDocDestEntrega>
<nroDocDestEntrega>12345678</nroDocDestEntrega>
<telefDestEntrega>991276768</telefDestEntrega>
</soapenv:Body>
</soapenv:Envelope>

the shipment will respond:

<soap:Envelope xmlns:soap="http://schemas.xmlsoap.org/soap/envelope/">
   <soap:Body>
      <salida>
         <indicadorExito>1</indicadorExito>
         <msg>Se registró satisfactoriamente la Orden de Servicio para el pedido  [0090000003]</msg>
         <nroOrdenServicio>1807050000036</nroOrdenServicio>
         <listaPiezas>
            <nuPieza>180705000003601</nuPieza>
            <descCorta>EXPRESS - LI LI|JE</descCorta>
         </listaPiezas>
      </salida>
   </soap:Body>
</soap:Envelope>

My question is: How do I send and how do I receive this information? (If you can give me an example to understand it would be great) Do not do this I would appreciate guidance at least as the type of shipment is called or an example somewhere on the internet and I read the information.