[rbac-manager] updating apiversions for kube 1.19

[lucasreed]

Why This PR?
In kubernetes 1.19, some apiversions will be removed

Fixes #
This change will allow rbac-manager to work in kubernetes 1.19

Changes
Changes proposed in this pull request:

• change clusterrole, clusterrolebinding to use rbac.authorization.k8s.io/v1
• change crd to apiVersion apiextensions.k8s.io/v1
• update crd definition to align with openApiSpec v3 and the kubernetes
  implementation of it
• added shortnames and singular name for the crd
  • allows the use of kubectl get rbacdef or kubectl get rbd
• removed Micah as chart owner
• added myself as chart owner

Checklist:

• I have updated the chart version in Chart.yaml following Semantic Versioning.
• Any new values are backwards compatible and/or have sensible default.
• Any new values have been added to the README for the Chart, or helm-docs has been run for the charts that support it.

[CLAassistant]

All committers have signed the CLA.