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

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## 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

Commencez par le paramètre colcon.meta de l’issue et les commandes micro_ros_setup et micro_ros_agent indiquées. Consultez la documentation du dépôt et les indications de configuration concernant Shared Memory, Docker et Cyclone DDS. Le travail est terminé lorsque vous avez documenté si cette configuration fonctionne sans microcontrôleur ni Agent et répertorié toutes les modifications nécessaires.

Rédigé par le modèle d'indexation à partir du texte de l'issue.