You can more learn about docker at https://www.freecodecamp.org/news/the-docker-handbook/

Building Dockerfile

• dockerfile can be built with docker build -t turtlebot:latest . (assuming you are in the directory of the dockerfile)

Starting docker container

• You can view all of your docker images with docker image ls
• You should see your recently built docker image turtlebot:latest
• Start this docker image with docker run -it --device=/dev/kobuki:/dev/kobuki --net=host --device=/dev/bus/usb/ -v /sys/fs/cgroup:/sys/fs/cgroup:ro turtlebot:latest /bin/bash
  • Note that -it will start the container interactively, alternatively you could start headlessly and use the steps in the interacting section to attach.
  • Note that --net=host will pass the host machines network namespace into the container. This may lead to port conflicts.

Interacting

You can also open additional interactive instances of your docker container

• docker container ls, this will show you some information including container ID. Copy down the container ID of your currently running turtlebot:latest image instance
• docker exec -it {ContainerID} bash will let you open up additional terminal instances