Automatic merge from submit-queue (batch tested with PRs 57324, 56931, 57000, 57150, 56965). If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>.

Fix Heapster and Metrics Server configuration to enable overriding resource requirements.

**What this PR does / why we need it**:
Configure resources for Heapster and Metrics Servier using Component Config. This will enable overriding default resource requirements for these components.

**Release note**:
```release-note
Fix Heapster configuration and Metrics Server configuration to enable overriding default resource requirements.
```