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Get the template file
First of all, download the dns template
Set environment variables
Then you need to set DNS_REPLICAS, DNS_DOMAIN and DNS_SERVER_IP envs
$ export DNS_REPLICAS=1
$ export DNS_DOMAIN=cluster.local # specify in startup parameter `--cluster-domain` for containerized kubelet 
$ export DNS_SERVER_IP=10.0.0.10  # specify in startup parameter `--cluster-dns` for containerized kubelet 
Replace the corresponding value in the template and create the pod
$ sed -e "s/{{ pillar\['dns_replicas'\] }}/${DNS_REPLICAS}/g;s/{{ pillar\['dns_domain'\] }}/${DNS_DOMAIN}/g;s/{{ pillar\['dns_server'\] }}/${DNS_SERVER_IP}/g" skydns.yaml.in > ./skydns.yaml
# If the kube-system namespace isn't already created, create it
$ kubectl get ns
$ kubectl create namespace kube-system
$ kubectl create -f ./skydns.yaml{% endraw %}
Test if DNS works
Follow this link to check it out.