In terms of ARM containers on Docker Hub, I’ve successfully set up automated builds for ROS containers using the QEMU-based approach from the resin.io blog post that ruffsl referenced. See:
These are specific to the RPi3 (and do some non-standard things with Debian packages), but the approach works without these hacks. As long as the base image has the QEMU executable and scripts added (see GitHub repos linked from Docker Hub)