The pre-built images are available here.
See the instructions on the ESP website.
To create a Docker image based on different configurations:
docker build -t <docker-image-name> -f <docker-file-name> .
Example:
docker build -t columbiasld/esp:centos7-full -f Dockerfile.centos7_full .
docker build -t columbiasld/esp:centos7-small -f Dockerfile.centos7_small .
docker build -t columbiasld/esp:ubuntu18-full -f Dockerfile.ubuntu18_full .
docker build -t columbiasld/esp:ubuntu18-small -f Dockerfile.ubuntu18_small .