How to use SHM in mico-ROS (Using docker)

## Issue template

- Hardware description: docker, Ubuntu 22.04
- RTOS:
- Installation type:
- Version or commit hash: humble

#### Steps to reproduce the issue
Hey, i have created a publisher and subscriber chain with micro-ROS nodes in a docker container , to analyze latencies. It works fine when i use the Agent. Now i want to use SHM. Therefore, i added` "-DUCLIENT_PROFILE_SHARED_MEMORY=ON"` to my colcon.meta. Do i still have to build the agent and the other steps like:

```
ros2 run micro_ros_setup build_firmware.sh
source install/local_setup.bash
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6

```
I am not using a microcontroller, does this still work.? I want to see how big the latency is with and without the Agent. I am using Cyclone DDS, is this maybe the problem?

All nodes are in the same container.

Are there any modifications I forgot to do ?

#### Expected behavior

#### Actual behavior

#### Additional information

Start with the issue's colcon.meta setting and the listed micro_ros_setup and micro_ros_agent commands. Check the repository documentation and configuration guidance for shared memory, Docker, and Cyclone DDS. Done means documenting whether this setup works without a microcontroller or Agent and listing any required modifications.

Written by the indexing model from the issue text.