actually how you want to use a container

Dockerfile

@@ -8,7 +8,7 @@ RUN apt update; apt install -y vim tmux git sudo stow
 RUN adduser user --home /home/user
 RUN echo 'root:root'|chpasswd
 RUN echo 'user:user'|chpasswd
-RUN echo "user ALL=(ALL:ALL) ALL" >> /etc/sudoers
+RUN echo "user ALL=(ALL:ALL) NOPASSWD:ALL" >> /etc/sudoers
 #RUN echo "source /opt/ros/melodic/setup.bash" >> /home/user/.bashrc
 # covenience, this entire block can be removed without affecting the functionality
 USER user
@@ -30,5 +30,8 @@ WORKDIR /home/user/catkin_ws/src
 WORKDIR /home/user/catkin_ws
 USER root
 #RUN chmod u+x /home/user/catkin_ws/scripts/* && chown user: /home/user/catkin_ws/scripts/*
+COPY ./scripts/all.sh /home/user/entrypoint.sh
+RUN chmod +x /home/user/entrypoint.sh
 USER user
 
+CMD ["/bin/bash", "/home/user/entrypoint.sh"]

Makefile

@@ -4,7 +4,10 @@ build:
 	docker build -t container .
 run:
 	echo running:|figlet
-	docker run -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix \
+	docker run \
+	--rm \
+	-e DISPLAY=${DISPLAY} \
+	-v /tmp/.X11-unix:/tmp/.X11-unix \
 		-v $(shell readlink -e ./manipulability_metrics):/home/user/catkin_ws/src \
 		-v $(shell readlink -e ./scripts):/home/user/catkin_ws/scripts \
 		-it container 

scripts/all.sh

-. ./scripts/prepare.sh
-. ./scripts/start.sh
+## prepare
+# install dependencies
+rosdep update
+rosdep install --from-paths src --ignore-src -r -y
+
+# make and setup
+catkin_make
+source devel/setup.bash
+
+## start
+# run launch file from example
+roslaunch manipulability_metrics_examples panda_manipulability_demo.launch