message: CHANGE: Use `advertiseService` function from franka_hw
diff: #include <franka/duration.h>
  #include <franka_gazebo/model_kdl.h>
  #include <franka_hw/franka_hw.h>
  +#include <franka_hw/services.h>
  #include <franka_msgs/SetEEFrame.h>
  #include <franka_msgs/SetForceTorqueCollisionBehavior.h>
  #include <franka_msgs/SetKFrame.h>
  @@ -246,20 +247,17 @@ void FrankaHWSim::initServices(ros::NodeHandle& nh) {
  response.success = true;
  return true;
  });
  - this->service_set_k_ =
  - nh.advertiseService<franka_msgs::SetKFrame::Request, franka_msgs::SetKFrame::Response>(
  - "set_K_frame", [&](auto& request, auto& response) {
  - ROS_INFO_STREAM_NAMED("franka_hw_sim",
  - this->arm_id_ << ": Setting EE_T_K transformation");
  + this->service_set_k_ = franka_hw::advertiseService<franka_msgs::SetKFrame>(
  + nh, "set_K_frame", [&](auto& request, auto& response) {
  + ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting EE_T_K transformation");
  std::copy(request.EE_T_K.cbegin(), request.EE_T_K.cend(),
  this->robot_state_.EE_T_K.begin());
  this->updateRobotStateDynamics();
  response.success = true;
  return true;
  });
  - this->service_set_load_ =
  - nh.advertiseService<franka_msgs::SetLoad::Request, franka_msgs::SetLoad::Response>(
  - "set_load", [&](auto& request, auto& response) {
  + this->service_set_load_ = franka_hw::advertiseService<franka_msgs::SetLoad>(
  + nh, "set_load", [&](auto& request, auto& response) {
  ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting Load");
  this->robot_state_.m_load = request.mass;
  std::copy(request.F_x_center_load.cbegin(), request.F_x_center_load.cend(),
  @@ -271,9 +269,8 @@ void FrankaHWSim::initServices(ros::NodeHandle& nh) {
  return true;
  });
  this->service_collision_behavior_ =
  - nh.advertiseService<franka_msgs::SetForceTorqueCollisionBehavior::Request,
  - franka_msgs::SetForceTorqueCollisionBehavior::Response>(
  - "set_force_torque_collision_behavior", [&](auto& request, auto& response) {
  + franka_hw::advertiseService<franka_msgs::SetForceTorqueCollisionBehavior>(
  + nh, "set_force_torque_collision_behavior", [&](auto& request, auto& response) {
  ROS_INFO_STREAM_NAMED("franka_hw_sim", this->arm_id_ << ": Setting Collision Behavior");
  for (int i = 0; i < 7; i++) {
  