Automatic merge from submit-queue (batch tested with PRs 38609, 38227)
On kubemark master, kubelet now runs as a supervisord process and all master components as pods
This PR fixes issue #37485
On kubemark, previously we had a custom setup that runs master components as top-level processes under supervisord, which is lighter than running kubelet and docker.
This PR makes kubelet run as a process under supervisord and the master components (apiserver, controller-manager, scheduler, etcd) as pods, making testing on kubemark mimic real clusters better.
Also, start-kubemark-master.sh now closely resembles cluster/gce/gci/configure-helper.sh, allowing easy integration in future.
cc @kubernetes/sig-scalability @wojtek-t @gmarek
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