When SHM enabled, enable transport_optimization (backport #1020)

[mergify]

Description

Since #857 rmw_zenoh is using the same SHM segment than created by Zenoh when transport_optimization is enabled. While it checks if transport/shared_memory/enabled==true it doesn't check nor enforce that transport/shared_memory/transport_optimization==true.
If SHM is enabled and transport_optimization is disabled, SHM is not used and rmw_zenoh fallbacks to network transport.

This PR overwrites the config with transport/shared_memory/transport_optimization: true if set to false and SHM is enabled. An INFO log is also displayed.

Is this user-facing behavior change?

No

Did you use Generative AI?

No

---

This is an automatic backport of pull request #1020 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of e315985 has failed:

On branch mergify/bp/kilted/pr-1020
Your branch is up to date with 'origin/kilted'.

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  (fix conflicts and run "git cherry-pick --continue")
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Changes to be committed:
	modified:   README.md
	modified:   rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   docs/design.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[ahcorde]

@JEnoch do you mind to take a look to the conflicts?

[JEnoch]

Pulls: #1022
Gist: https://gist.githubusercontent.com/JEnoch/e9bb9202cc5688531c7fb840d1e9fb3d/raw/531f755869c9ea799342ba89be9e643ca1d4892e/ros2.repos
BUILD args: "--continue-on-error" --packages-above-and-dependencies zenoh_cpp_vendor zenoh_security_tools rmw_zenoh_cpp
TEST args: --packages-above zenoh_cpp_vendor zenoh_security_tools rmw_zenoh_cpp
ROS Distro: kilted
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/20016

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