You cannot rename topics in your node and use them from the command line. If you want to use command line, you have to define them as args before the node. In your case, under arguments, define:
<arg name="goal_topic" default="/move_base_simple/goal" doc="goal topic for turtlebot3"/>
and in your remap,
In a Dockerfile, you cannot add the setup.bash to the .bashrc and then source the .bashrc. Instead, you want to source the setup.bash in one go:
RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash &&\
mkdir -p ~/catkin_ws/src &&\
cd ~/catkin_ws/src &&\
cd ~/catkin_ws &&\
This command opens the RViz in an X11 window of the Windows X server.
After roscore has started, start a second terminal and enter (according to http://gazebosim.org/tutorials?tut=ros_roslaunch) (you do no need to have the firewall deactivated for this to run, at least in my case):
roslaunch gazebo_ros empty_world.launch
#For killing the app, press Ctrl+C ...