I've tried Galactic, Rolling, and building cyclone DDS and iceoryx from source using instructions at:

https://github.com/ApexAI/rmw_cyclonedds/blob/shared-memory-support-documentation/shared_memory_support.md https://github.com/eclipse-cyclonedds/cyclonedds/blob/iceoryx/docs/manual/shared_memory.rst

No matter what I do, I always get this error message when I try to borrow a loaned message:

Currently used middleware can't loan messages. Local allocator will be used.

Tests show large latencies that grow with message size.

I understand that for shared memory / zero-copy to work the data must be POD and certain QoS settings must be used. I've tried a lot of different options with no success.

Does someone have a working example with source code and configuration files?