Can not communicate through zero-copy with iceoryx

[binbowang1987]

Command

./bin/ShmThroughputPublisher 1024 1000 1 1000 test
./bin/ShmThroughputSubscriber 0 0 "test" 1024

Version

releases/0.10.x 1be07de395e4ddf969db2b90328cdf4fb73e9a64

Problem Code

I find that dds_take will use memcpy to get data from iox_chunk, this makes CycloneDDS non-zero-copy.
https://github.com/eclipse-cyclonedds/cyclonedds/blob/1be07de395e4ddf969db2b90328cdf4fb73e9a64/src/core/ddsi/src/ddsi_serdata_default.c#L647-L670