The word "altercation" refers to a disagreement or a fight, particularly one that is heated, angry or noisy. The word "vociferous" means loud, noisy or vehement. Therefore, a "vociferous altercation" refers to a fight in which the people interacting are shouting in an angry and noisy way.
The main motif of the poem is that Dickinson compares poetry, obviously and famously her favorite form, to a house or building that extends ad infinitum, or forever--the possibilities of poetry are endless. I hope my answer has come to your help. God bless and have a nice day ahead!