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

roles/kubernetes/control-plane/tasks/kubeadm-setup.yml

@@ -192,5 +192,5 @@
   with_items:
     - "node-role.kubernetes.io/master:NoSchedule-"
     - "node-role.kubernetes.io/control-plane:NoSchedule-"
-  when: inventory_hostname in groups['kube-node']
+  when: inventory_hostname in groups['kube_node']
   failed_when: false