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It could be you didn't source the setup.bash file. Double check that you have a simulation-entrypoint.sh or equivalent file that sources setup.bash and that the file is copied in the Dockerfile for the simulation application. For more information, see Creating an image for the simulation application in the documentation.
Thank you very much! I did as the guide says, make the folders with the Dockerfiles and the entrypoints, yet I obtain the same result. I have installed rosbash to have rosrun and rospack-tools to have rospack, but know the problem is "rospack Error: package 'gazebo_ros' not found". Can it due to some permission problems?