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Clearly, the official ros-docker-docs are wrong and are promoting the above technique which leads to mentioned "bug".

@dparkar's answer is based on the contents of ros_entrypoint.sh, where he sources manually with

source "/opt/ros/$ROS_DISTRO/setup.bash

This is obviously tedious to do each time one logs into the bash of a container. I simplified it with the following script source_me.sh:

#!/bin/bash
# setup ros environment
source "/opt/ros/$ROS_DISTRO/setup.bash"
source "/root/catkin_ws/devel/setup.bash"

where in the last line I also source other relevant projects. I call it with

source source_me.sh

each time im logging into the bash.