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Hi Sebastian,
Docker is an open source project, therefore you can be sure it is 100% free of charge "as is".
Docker.com will charge you with a fee only if you choose their platform, but it's up to you. It's something similar to what happens to Wordpress: You can use Wordpress free of charge if you download it, install it on your own server and configure everything. But if you want someone to do those tasks, Wordpress.com has a commercial offer.
You will see in a near future how some companies will begin to offer commercial FIWARE platforms, but they will charge you for services (like hosting, configuration, maintenance, support...), not for the code itself.