Fix usage of deprecated AsyncParametersClient constructor #632

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Run time

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Job	Run time
Test (ROS noetic, Boost Asio)	2m 51s
Test (ROS melodic)	2m 20s
Test (ROS humble, Boost Asio)	3m 15s
Lint	1m 35s
Test (ROS noetic)	2m 40s
Test (ROS rolling, Boost Asio)	2m 59s
Test (ROS humble)	3m 9s
Test (ROS iron)	2m 55s
Test (ROS rolling)	3m 25s
	25m 9s