I've had the need to learn more about Docker lately and had some trouble getting stuff working. Here are some helpful links that I used to solve problems, put here so I can refer to them later (or so anyone else can benefit from them).
To docker-ize UI applications:
http://wiki.ros.org/docker/Tutorials/GUI
https://blog.docker.com/2013/07/docker-desktop-your-desktop-over-ssh-running-inside-of-a-docker-container/
http://fabiorehm.com/blog/2014/09/11/running-gui-apps-with-docker/
To expose USB devices to docker containers:
https://stackoverflow.com/questions/24225647/docker-a-way-to-give-access-to-a-host-usb-or-serial-device
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