Use modern Docker Compose command

[MarkKoz]

The Compose file uses some features of the spec only supported by Docker Compose v2, such as pull_policy. The contribution documentation and the Makefile currently refer to the v1 command, docker-compose. Under some circumstances, this can be aliased to v2, but it isn't guaranteed to always be the case. All references should be updated to use the v2 command, docker compose. An explicit mention of v2 being required for the command would be helpful as well.