Choose JNLP or SSH to launch your slave.
JNLP
Make sure container can access Jenkins master. Take image jenkinsci/jnlp-slave as a reference
SSH
Make sure container initialize with a SSH server. Take image jenkinsci/ssh-slave as a reference
If using SSH, here is a sample of arguments:
Docker image: jenkinsci/ssh-slave
Command: setup-sshd
Environment Variable: Key: JENKINS_SLAVE_SSH_PUBKEY, Value: Your public key
Launch Method: SSH