First, build the mavros image, as mavros-avoidance depends on it. This step should be removed in the future by having the mavros image on the Docker hub (see here. From the components directory, run:
$ docker-compose -f components.yml build mavros
You need to open access to your X server:
$ xhost +local:root
Running the full simulation can be done by running both avoidance-node and sitl-avoidance-gui, which will in turn run mavros-avoidance and sitl-avoidance-server as dependencies.
$ docker-compose up avoidance-node sitl-avoidance-gui
If you don't need to run the GUI for your development, just omit it:
$ docker-compose up avoidance-node
The ROS master is run by mavros-avoidance, which binds port 11311 of the container to 11311 on the host. This means that your host will automatically connect to the docker ROS system. In case of troubles, you might have to set ROS_IP on your host, but it should not even be necessary.
Stopping all the containers can be done with docker-compose, too:
$ docker-compose down