jupyter-ros is based on https://github.com/RoboStack/jupyter-ros
Visulize ros in jupyter notebook

$ docker build -t jupyter-ros:jack .

$ docker run --rm -it -p 8888:8888/tcp jupyter-ros:jack

In the docker:

$ cd /
$ jupyter notebook --ip=0.0.0.0 --port=8888 --allow-root

On your host:

open web browser
type 127.0.0.1:8888

Enjoy!

If you got the following error when you run a cell failed to display Jupyter Widget of type VBox, you can solve it by running the following command jupyter nbextension enable --py --sys-prefix widgetsnbextension