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Welcome to the template-ros-core wiki!
Build (from repo root): dts devel build -H autobotXX.local -f --pull
After successful build you will get: Final image name: duckietown/template-ros-core:<branch_name>-arm32v7 -- remember it.
You can change code in container and run it without rebuild image. Of course, it works only for files that do not require processing at the image building step (.launch, .py, .sh, ...).
Note: This method does not allow making changes in the dt-core package without rebuilding the image.
dts devel run -M -s -f -H autobotXX --
In container will be executed the launch.sh. There you need to specify the command to run the required launchfile. You will be asked for the duckiebot password. quackquack by default.
When you stop solution and change your code, you can use command above again to run solution without rebuild image.
Run command: dts duckiebot demo --demo_name <launchfile_name> --duckiebot_name autobotXX --package_name <package_name> --image duckietown/template-ros-core:<branch_name>-arm32v7 --debug
For example: dts duckiebot demo --demo_name circle_drive --duckiebot_name autobot06 --package_name circle_drive --image duckietown/template-ros-core:v1-arm32v7 --debug