init shmem early to avoid random crash in fastrpc (#6407)

* init shmem early to avoid possible crash

* fix_code_style

* Keep the initialziation to NULL, remove the duplicate memory allocation

src/modules/muorb/adsp/px4muorb.cpp

@@ -56,6 +56,7 @@ __END_DECLS
 int px4muorb_orb_initialize()
 {
 	HAP_power_request(100, 100, 1000);
+	shmem_info_p = NULL;
 
 	// The uORB Manager needs to be initialized first up, otherwise the instance is nullptr.
 	uORB::Manager::initialize();

src/modules/uORB/uORBDevices.cpp

@@ -449,7 +449,6 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 		return ERROR;
 	}
 
-#if !defined(__PX4_QURT_EXCELSIOR) && !defined(__PX4_POSIX_EXCELSIOR)
 	/*
 	 * if the write is successful, send the data over the Multi-ORB link
 	 */
@@ -463,7 +462,6 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 		}
 	}
 
-#endif
 	return PX4_OK;
 }