topic_listener: avoid code generation, use existing metadata at runtime

This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.

src/drivers/rc_input/RCInput.cpp

@@ -861,7 +861,7 @@ int RCInput::print_status()
 	perf_print_counter(_publish_interval_perf);
 
 	if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
-		print_message(_rc_in);
+		print_message(ORB_ID(input_rc), _rc_in);
 	}
 
 	return 0;