Use Docker Compose for container definitions

[colekettler]

We currently run all containers using docker run commands in scripts and docker. Defining their configuration in docker-compose.yml files and using docker-compose run instead would reduce duplication of config and make our scripts easier to read.

This would introduce another development dependency into this project. We should document installing Docker Compose if necessary as part of project setup. Alternatively, we could wait for Compose v2 to exit beta and rely on the docker compose command built into more recent versions of Docker Engine.