Print a more descriptive / friendly msg when a render pass is unavailable

When a render pass is not registered / unavailable, the render pass system currently prints out an msg with the `typeid` name of the render pass. ,e.g.

```
RenderPass of typeid 'N2gz9rendering2v714DistortionPassE' is not registered
```

This looks more alarming than necessary. Consider printing out a more friendly name than `typeid`

## Desired behavior

For the above example, it would be better to just say something like `Distortion Pass is not supported` for that particular render engine.

## Implementation suggestion

Consider changing the [macro](https://github.com/gazebosim/gz-rendering/blob/gz-rendering7/include/gz/rendering/RenderPassSystem.hh#L95) to store a name other than `typeid` (which is what gets printed). This breaks current behavior so would need to go into `main`

## Additional context
Related: https://github.com/gazebosim/gz-rendering/pull/830#issuecomment-1481483566