Refactored how rbac_enabled is set
Added RBAC to ubuntu-canal-ha CI job
Added rbac for calico policy controller

* Adding yaml linter to ci check

* Minor linting fixes from yamllint

* Changing CI to install python pkgs from requirements.txt

- adding in a secondary requirements.txt for tests
- moving yamllint to tests requirements

By default Calico CNI does not create any network access policies
or profiles if 'policy' is enabled in CNI config. And without any
policies/profiles network access to/from PODs is blocked.

K8s related policies are created by calico-policy-controller in
such case. So we need to start it as soon as possible, before any
real workloads.

This patch also fixes kube-api port in calico-policy-controller
yaml template.

Closes #1132