Streamline develop and deploy process with Kustomize (on top of Minikube)

[shifucun]

There are a couple of issues with the current dev ops code/scripts/process

• Local development needs to push gRPC descriptor to Cloud Endpoints in order to make local ESP container working. This makes local server talking to Google metadata server and the developer need access to the dev Endpoints service.
• ESP container requires service account key locally which complicates the dev process.
• Kubernetes config files are in the form of template yaml and the values are replaced by environment variable in bash scripts. This is hard to understand and maintain. We should use mature tool like "Helm" and "Kustomize" which does this specifically.
• After code change, it requires containing build, yaml generation and new k8s deploy to verify the change. It's time consuming and error prone. We should use "Skaffold" to improve the experience.