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We have a docker environment working well for us. As you suggested, we mount volumes from the host into docker with the -v option. Typically we have a workspace folder which has all our ros2 workspaces and we map a workspace folder from the host into the docker. The rosdep output is written to your home $HOME/.ros folder. So we create a .ros folder on the host and map it to $HOME/.ros folder. This way the rosdep output is not lost when we exit the docker. There are probably other approaches as well but this is what we do and it works for us. Hope this helps.