Python bindings for shared memory DDS

Hello everyone

After some googling I could not find any python example using shared memory / zero copy DDS communication. So my question is double: is it possible to use shared memory with python bindings and if so, how / could you point to some examples?

AFAIK, currently this cannot be done with rclpy since it does not support LoanedMessage. besides, even if rclpy can borrow the memory from middleware, i am not sure it can achieve the zero copy.

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