Before running this you need to setup your SSH keys for your user, the instructions can be found here: https://robotwiki.cs.lth.se/documentation:containers#ssh_keys

# The ROS Distro to use
export ROS_DISTRO=noetic

# Get absolute path to rosinstall file - replace example.rosinstall with your file
export ROS_INSTALL_FILE=$(readlink -f example.rosinstall)

# Create workspace and initialize
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init

# Extend current ROS distro
catkin config --extend /opt/ros/$ROS_DISTRO/

# Go to source directory
cp $ROS_INSTALL_FILE ~/catkin_ws/current.rosinstall
cd ~/catkin_ws/src

# Import repos - this assumes that you have setup your SSH keys
vcs import < ../current.rosinstall

# Install dependendencies
cd ~/catkin_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Build workspace
catkin build

# Source workspace for usage
source ~/catkin_ws/devel/setup.bash

# Heron specific
cd ~/catkin_ws
rosrun heron_workspace_setup install_dependencies.sh

From this point everything should be built.