listener: add optional rate and cleanup existing arguments

Tools/uorb_graph/create.py

src/systemcmds/topic_listener/CMakeLists.txt

src/systemcmds/topic_listener/generate_listener.py

src/systemcmds/topic_listener/listener_main.cpp

src/systemcmds/topic_listener/topic_listener.hpp

src/systemcmds/topic_listener/topic_listener_generated.hpp