Add support for k8s v1.16.0-beta.2 (#5148)

Cleaned up deprecated APIs:
apps/v1beta1
apps/v1beta2
extensions/v1beta1 for ds,deploy,rs

Add workaround for deploying helm using incompatible
deployment manifest.
Change-Id: I78b36741348f47a999df3841ee63cf4e6f377830