A question like this is better for answers.ros.org, but I'll give you a quick answer here.
- The RTI Connext DDS implementation definitely has the ability to use shared memory for DDS clients running on the same computing node, and as I recall will do so automatically. However, it will still marshal data because it needs to do so for many of the features of Connext DDS, such as logging and introspection.
- eProsima's FastRTPS apparently does not use shared memory yet but [it is on their roadmap](
https://github.com/eProsima/Fast-RTPS/issues/312).
- OpenSplice DDS does use shared memory internally. I don't know if this implementation marshals data for shared memory.
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