Update "no service found to link..." error

[zionts]

This updates the error message that occurs when a config.service.name is
required in order to execute a command. Before this commit, there were
two distinct messages that were used in commands to communicate this
error to the user, which were slightly different in their wording. This
updates the wording to provide an explanation as well as next steps on
how to remedy the issue. Additionally, it uses the CLIError class in
order to print out an error in a "friendly" way without a stack trace,
as recommended by the @oclif/errors package we are using: https://oclif.io/docs/commands#thiserrormessage-string--error-options-code-string-exit-number

For changelog entry, please see #1849

TODO:

• Update CHANGELOG.md* with your change (include reference to issue & this PR)
• Make sure all of the significant new logic is covered by tests
• Rebase your changes on master so that they can be merged easily
• Make sure all tests and linter rules pass

*Make sure changelog entries note which project(s) has been affected. See older entries for examples on what this looks like.

[zionts]

Before:

After:

[zionts]

Update -- Added a commit (that we can revert if we'd like) that makes the error message split with newlines instead of spaces. This makes it more likely to fit in your shell: