Hi , I was reading up on DDS article on the design.ros2, and it mentioned under the Messages section that

The intraprocess communication in ROS would not use the DDS in-memory representation so this field-by-field copy would not be used unless the data is going to the wire. Blockquote

I understand this article might be outdated, so I like to clarify on the current behavior for communication between local nodes using FAST DSS, as to my understanding this is now managed by the middle-ware under the hood.

Thanks