Well...
I'm not sure what the author really wants to say. mmap is available in many languages (e.g. Python) on Linux (and many other *nix I suppose). C provides you with raw memory access, so using mmap is sort-of-convenient for this use case.
But if you use Python then, yes, you'll need a bytearray, because Python doesn't give you raw access to such memory - and I'm not sure you'd want to mmap a PyObject anyway?
Then, writing and reading this kind of raw memory can be kind of dangerous and non-portable - I'm not really sure that the pickle analogy even makes sense. I very much suppose (I've never tried) that if you mmap-read malicious data in C, a vulnerability would be _quite_ easy to exploit.
Actually in Python you could recast (zerocopy) bytearray as other primitive C type or even any other structure using ctypes module.
Creating memory mapped files is a very common OS feature since 90s. Many high level languages have it as OS agnostic POSIX or not.