tools: specify project name in docker-compose files

[matzf]

Simplify the usage of the various docker-compose configurations by including the project name in the configuration file. This has been supported for a while now in docker-compose v2. This allows to drop the -p/--project-name from all docker-compose incantations.

Also, streamline the docker-compose files generated by the topogen scripts; remove the explicit container_name configurations and drop all the explicit scion_ prefixes -- managing these prefixes is docker-compose's job.
Shut up the warnings on "SCION_EXPERIMENTAL_... variable is not set. Defaulting to a blank string." by using the variable expansion syntax to explicitly default to a blank string.

Also, drop the docker compose --compatibility flag. The compatibility flag affects what word separator is used in the
container name and it has long been deprecated. We don't usually rely on specific container names, so this should be
fine. In some exception cases where expecting specific container names seems more practical (containers for bazel-remote-cache and go-module-proxy) due to special casing in the CI scripts, container_name is set explicitly.

---

This change is 

[jiceatscion]

Reviewed 22 of 22 files at r1, all commit messages.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @matzf)

[matzf]

Just as a heads-up for developers using the docker compose based local topology setup: a docker compose local topology setup started before this change may not be compatible with the scripts or compose file created after this change. To avoid confusing docker compose make sure to stop your local topology before changing to this commit. Otherwise, you might have to manually remove dangling containers etc. (e.g. the nuclear option: stop all running containers, docker stop $(docker ps -a -q), then clean up everything docker system prune -- consult your friendly docker manuals for minimally invasive options).