This is the bash file for docker running.
It is highly documented in the bash file.
Just change the TARGET by the name of your docker image. It would pull the docker from the docker hub directly.
Change the path of shared folder to connect docker with outside system. for example:
-v path_out_side:path_in_docker
-v /media/psl-ctg/Data:/workspace
For multiple terminal.
I recommend to use tmux for multiple terminal. And tmux is also configured in deepnav_ros from https://github.com/gpakosz/.tmux