RANGER-5227: Add healthchecks for all containers

[kumaab]

What changes were proposed in this pull request?

Moving #600 here.

• Add health checks in docker-compose.yaml for all supported docker services.
• Add curl to the ranger-base image to aid in generic health checks across containers.
• Update env variables to allow creation of topic in Kafka container.
• Explicitly allow ruok command in whitelist for Zookeeper container.

How was this patch tested?

Tested changes locally for all containers, docker ps reports all containers as healthy.