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/rpm/rpm_simulator/rpm_simulator.cpp

@@ -72,7 +72,7 @@ int rpm_simulator_main(int argc, char *argv[])
 
 	// Publish data and let the user know what was published
 	rpm_pub.publish(rpm);
-	print_message(rpm);
+	print_message(ORB_ID(rpm), rpm);
 
 	return 0;
 }