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The probably most easy solution is to put the the call of / in front of the actual command. (This works because calls the argument passed...)

>>> import docker
>>> docker_client = docker.DockerClient(base_url='unix://var/run/docker.sock')
>>> container ="osrf/ros:indigo-desktop-trusty", detach=True, tty=True)
>>> logs = container.exec_run(cmd='/ rosparam list')
>>> print(logs)
ExecResult(exit_code=1, output='ERROR: Unable to communicate with master!\n')