Rename ansible groups to use _ instead of - (#7552)

* rename ansible groups to use _ instead of -

k8s-cluster -> k8s_cluster
k8s-node -> k8s_node
calico-rr -> calico_rr
no-floating -> no_floating

Note: kube-node,k8s-cluster groups in upgrade CI
      need clean-up after v2.16 is tagged

* ensure old groups are mapped to the new ones

contrib/azurerm/roles/generate-templates/templates/minions.json

@@ -61,7 +61,7 @@
         "[concat('Microsoft.Network/networkInterfaces/', 'minion-{{i}}-nic')]"
       ],
       "tags": {
-        "roles": "kube-node"
+        "roles": "kube_node"
       },
       "apiVersion": "{{apiVersion}}",
       "properties": {
@@ -112,4 +112,4 @@
     } {% if not loop.last %},{% endif %}
     {% endfor %}
   ]
-}
+}