Change rbac in example yaml to v1 api

[westford14]

What this PR does / why we need it:

This PR resolves issue #3403 across the repo on top of within the helm charts explicitly mentioned in the issue. All instances of rbac.authorization.k8s.io/v1beta1 have been updated to rbac.authorization.k8s.io/v1. All helm charts / manifests have been deployed successfully to a kind v0.11.1 cluster.

Which issue(s) this PR fixes:
Fixes #3403

Special notes for your reviewer:

Does this PR introduce a user-facing change?: Yes

* seldon-core helm charts no longer have deprecation warnings for rbac.authorization.k8s.io/v1beta1

[seldondev]

Hi @westford14. Thanks for your PR.

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[seldondev]

[APPROVALNOTIFIER] This PR is NOT APPROVED

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[westford14]

/assign @SachinVarghese

[ukclivecox]

@westford14 Thanks!