this is just not allowed in the compose file, since you do not have a template engine there.

you will not need to define

volumes: 
        - /opt/h2-data
since that will be done automatically (anonymous volume). if you want to have a named volume use 
volumes: 
        - myname:/opt/h2-data
or a host mount
volumes: 
        - /path/on/the/host:/opt/h2-data
so ${data_dir} is not expanded in the volumes ( from the env ) in a compose file. there are dialects like rancher-compose providing this, but in general that is not possible
updated: updated my answer since i somehow mixed the dockerfile/docker-compose.yml file. it makes sense in the dockerfile, since it is just used as a variable. thank you for hinting me on that @bmitch (once again)

                                            
sometimes just an extra space can cause the problem (my case):
shouldn't be like that:
volumes:
      - ./api/app: /app
but :
volumes:
      - ./api/app:/app
                                            
i had the same error message, it was a silly mistake. i forgot to put the leading forward slash on container directory /app
before
volumes:
      - ./api/app:app
after
volumes:
      - ./api/app:/app
                                
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