I had similar issue in with docker container containing zookeeper and kafka (it isn't best practise to put two services in one container, but it was for testing purpose).
this was the error
[2018-11-21 12:54:24,434] INFO [ThrottledChannelReaper-Fetch]: Starting (kafka.server.ClientQuotaManager$ThrottledChannelReaper)
[2018-11-21 12:54:24,434] INFO [ThrottledChannelReaper-Produce]: Starting (kafka.server.ClientQuotaManager$ThrottledChannelReaper)
[2018-11-21 12:54:24,435] INFO [ThrottledChannelReaper-Request]: Starting (kafka.server.ClientQuotaManager$ThrottledChannelReaper)
[2018-11-21 12:54:24,453] INFO Loading logs. (kafka.log.LogManager)
[2018-11-21 12:54:24,457] INFO Logs loading complete in 4 ms. (kafka.log.LogManager)
[2018-11-21 12:54:24,468] INFO Starting log cleanup with a period of 300000 ms. (kafka.log.LogManager)
[2018-11-21 12:54:24,469] INFO Starting log flusher with a default period of 9223372036854775807 ms. (kafka.log.LogManager)
[2018-11-21 12:54:24,694] INFO Awaiting socket connections on 0.0.0.0:9092. (kafka.network.Acceptor)
[2018-11-21 12:54:24,728] INFO [SocketServer brokerId=0] Started 1 acceptor threads (kafka.network.SocketServer)
[2018-11-21 12:54:24,741] INFO [ExpirationReaper-0-Produce]: Starting (kafka.server.DelayedOperationPurgatory$ExpiredOperationReaper)
[2018-11-21 12:54:24,741] INFO [ExpirationReaper-0-DeleteRecords]: Starting (kafka.server.DelayedOperationPurgatory$ExpiredOperationReaper)
[2018-11-21 12:54:24,741] INFO [ExpirationReaper-0-Fetch]: Starting (kafka.server.DelayedOperationPurgatory$ExpiredOperationReaper)
[2018-11-21 12:54:24,750] INFO [LogDirFailureHandler]: Starting (kafka.server.ReplicaManager$LogDirFailureHandler)
[2018-11-21 12:54:24,790] INFO Creating /brokers/ids/0 (is it secure? false) (kafka.zk.KafkaZkClient)
[2018-11-21 12:54:24,802] ERROR Error while creating ephemeral at /brokers/ids/0, node already exists and owner '72057672936325120' does not match current session '72057674644258816' (kafka.zk.KafkaZkClient$CheckedEphemeral)
[2018-11-21 12:54:24,803] INFO Result of znode creation at /brokers/ids/0 is: NODEEXISTS (kafka.zk.KafkaZkClient)
[2018-11-21 12:54:24,808] ERROR [KafkaServer id=0] Fatal error during KafkaServer startup. Prepare to shutdown (kafka.server.KafkaServer)
org.apache.zookeeper.KeeperException$NodeExistsException: KeeperErrorCode = NodeExists
at org.apache.zookeeper.KeeperException.create(KeeperException.java:122)
at kafka.zk.KafkaZkClient.checkedEphemeralCreate(KafkaZkClient.scala:1525)
at kafka.zk.KafkaZkClient.registerBrokerInZk(KafkaZkClient.scala:84)
at kafka.server.KafkaServer.startup(KafkaServer.scala:257)
at kafka.server.KafkaServerStartable.startup(KafkaServerStartable.scala:38)
at kafka.Kafka$.main(Kafka.scala:75)
at kafka.Kafka.main(Kafka.scala)
Quickfix for me was to start kafka-server a few seconds later;
bin/zookeeper-server-start.sh -daemon config/zookeeper.properties && (bin/kafka-server-start.sh config/server.properties || echo "kafka start failed. restarting ... " && sleep 3 && bin/kafka-server-start.sh config/server.properties)