Gone through the options.. Any other Quick fix for the asked question?
I'm not clear on what the question is. You seem to want CSH and to not use Map IDs. That leaves other methods to which Willam has already pointed you. Essentially it's Map IDs or URLs. So are you asking if there is a method that does not involve the developers? No as it is they who must create a link of some sort from a screen to a topic.
You also say you don't give JS files, just folders and CSS. The Rh WebHelp output contains many files and folders and you have to give the whole output or the help will not work properly. Exactly what are you giving them?
See www.grainge.org for RoboHelp and Authoring tips