docs(docker): description of how to use the development and runtime containers

[youtalk]

Description

This PR briefly describes how to use the development containers and runtime containers.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

Interface changes

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[mitsudome-r]

Thanks for the PR!
I think it is useful for many users to have this how-to-guides.

However, I think it might be better to update the usage section (source code) under the Autoware Documentation because that would be more visible for more people. We can still keep this README as a place to explain the design and description of the docker image creation pipeline, and just add a link to the Autoware Documentation page as a user guide.

The link I shared has instructions to run the docker from the script, but I think we can update it to have more detailed instruction to call the docker run command as well.

[youtalk]

@mitsudome-r Exactly! But the current Open AD Kit document seems to be obsolete.
https://autowarefoundation.github.io/open-ad-kit-docs/openadkit_v3/version-3.0/
https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/#usage

I would like to update the whole pages after Docker Compose configuration will be done. #5182
Therefore, until then, please temporarily provide the simplified summary for developers in this README.md.

[mitsudome-r]

@youtalk
If you are aware of other pages and are thinking of updating them later, then I'm okay with approving this PR.