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It looks like you didn't source your ROS installation before running your build.

If you change:

RUN cd ${ROS2_WS} \
    && colcon build \
    && source ${ROS2_WS}/install/setup.bash

to

RUN cd ${ROS2_WS} \
    && . /opt/ros/crystal/setup.sh \
    && colcon build \
    && source ${ROS2_WS}/install/setup.bash

I would expect it to work.

and run a docker container of the image, I can execute

When you enter a container, you enter via the entrypoint and the ROS docker images source the workspace in the entrypoint

HTH,