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If you'd like to use shared memory transport between node in separate containers, then you could adjust the PID (Process) Namespace mode for the containers as explained in this answer from a previous question:
"ROS2 connectivity across Docker containers via Host Driver"
https://answers.ros.org/question/296828/ros2-connectivity-across-docker-containers-via-host-driver/?answer=298320#post-id-298320
Perhaps @richiware might know how to set a different RTPS App ID for each DDS participant to avoid the confusion of duplicate IDs from separate PID spaces on a shared host, or what advantage manually mounting the /dev/shm volume would have over using the pid and ipc options in docker.
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