Update compiler to use taskRun podTemplate spec

[Tomcli]

/kind feature
/help-wanted

Description:

Thanks to @NikeNano's PR tektoncd/pipeline#2389, taskRun podTemplate spec is now available in Tekton pipelineRun.

Current implementation: https://github.com/kubeflow/kfp-tekton/blob/master/sdk/FEATURES.md#affinity-node-selector-and-tolerations
Code: https://github.com/kubeflow/kfp-tekton/blob/master/sdk/python/kfp_tekton/compiler/compiler.py#L312-L319

Above is our current implementation to use pipelineRun podTemplate spec. Our goal is to migrate this to use taskRun podTemplate spec so it has the same behavior as Argo.

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[k8s-ci-robot]

@Tomcli: The label(s) kind/help-wanted cannot be applied, because the repository doesn't have them

In response to this:

/kind help-wanted

Instructions for interacting with me using PR comments are available here. If you have questions or suggestions related to my behavior, please file an issue against the kubernetes/test-infra repository.

[NikeNano]

@JohanWork maybe this would be something for you? I can help out.

[ckadner]

/assign @NikeNano