On worker nodes:

Install the required packages

sudo apt-get -y install socat conntrack ipset

Download and install the necessary binaries

wget -q --show-progress --https-only --timestamping \
  https://github.com/kubernetes-incubator/cri-tools/releases/download/v1.0.0-beta.0/crictl-v1.0.0-beta.0-linux-amd64.tar.gz \
  https://storage.googleapis.com/kubernetes-the-hard-way/runsc \
  https://github.com/opencontainers/runc/releases/download/v1.0.0-rc5/runc.amd64 \
  https://github.com/containernetworking/plugins/releases/download/v0.6.0/cni-plugins-amd64-v0.6.0.tgz \
  https://github.com/containerd/containerd/releases/download/v1.1.0/containerd-1.1.0.linux-amd64.tar.gz \
  https://storage.googleapis.com/kubernetes-release/release/v1.10.2/bin/linux/amd64/kubectl \
  https://storage.googleapis.com/kubernetes-release/release/v1.10.2/bin/linux/amd64/kube-proxy \
  https://storage.googleapis.com/kubernetes-release/release/v1.10.2/bin/linux/amd64/kubelet

sudo mkdir -p \
  /etc/cni/net.d \
  /opt/cni/bin \
  /var/lib/kubelet \
  /var/lib/kube-proxy \
  /var/lib/kubernetes \
  /var/run/kubernetes

chmod +x kubectl kube-proxy kubelet runc.amd64 runsc

sudo mv runc.amd64 runc

sudo mv kubectl kube-proxy kubelet runc runsc /usr/local/bin/

sudo tar -xvf crictl-v1.0.0-beta.0-linux-amd64.tar.gz -C /usr/local/bin/

sudo tar -xvf cni-plugins-amd64-v0.6.0.tgz -C /opt/cni/bin/

sudo tar -xvf containerd-1.1.0.linux-amd64.tar.gz -C /

Configure the containerd service

sudo mkdir -p /etc/containerd/

cat << EOF | sudo tee /etc/containerd/config.toml
[plugins]
  [plugins.cri.containerd]
    snapshotter = "overlayfs"
    [plugins.cri.containerd.default_runtime]
      runtime_type = "io.containerd.runtime.v1.linux"
      runtime_engine = "/usr/local/bin/runc"
      runtime_root = ""
    [plugins.cri.containerd.untrusted_workload_runtime]
      runtime_type = "io.containerd.runtime.v1.linux"
      runtime_engine = "/usr/local/bin/runsc"
      runtime_root = "/run/containerd/runsc"
EOF

cat << EOF | sudo tee /etc/systemd/system/containerd.service
[Unit]
Description=containerd container runtime
Documentation=https://containerd.io
After=network.target

[Service]
ExecStartPre=/sbin/modprobe overlay
ExecStart=/bin/containerd
Restart=always
RestartSec=5
Delegate=yes
KillMode=process
OOMScoreAdjust=-999
LimitNOFILE=1048576
LimitNPROC=infinity
LimitCORE=infinity

[Install]
WantedBy=multi-user.target
EOF

Configure the kubelet service

HOSTNAME=worker0.mylabserver.com
HOSTNAME=worker1.mylabserver.com
sudo mv ${HOSTNAME}-key.pem ${HOSTNAME}.pem /var/lib/kubelet/
sudo mv ${HOSTNAME}.kubeconfig /var/lib/kubelet/kubeconfig
sudo mv ca.pem /var/lib/kubernetes/

cat << EOF | sudo tee /var/lib/kubelet/kubelet-config.yaml
kind: KubeletConfiguration
apiVersion: kubelet.config.k8s.io/v1beta1
authentication:
  anonymous:
    enabled: false
  webhook:
    enabled: true
  x509:
    clientCAFile: "/var/lib/kubernetes/ca.pem"
authorization:
  mode: Webhook
clusterDomain: "cluster.local"
clusterDNS:
  - "10.32.0.10"
runtimeRequestTimeout: "15m"
tlsCertFile: "/var/lib/kubelet/${HOSTNAME}.pem"
tlsPrivateKeyFile: "/var/lib/kubelet/${HOSTNAME}-key.pem"
EOF

cat << EOF | sudo tee /etc/systemd/system/kubelet.service
[Unit]
Description=Kubernetes Kubelet
Documentation=https://github.com/kubernetes/kubernetes
After=containerd.service
Requires=containerd.service

[Service]
ExecStart=/usr/local/bin/kubelet \\
  --config=/var/lib/kubelet/kubelet-config.yaml \\
  --container-runtime=remote \\
  --container-runtime-endpoint=unix:///var/run/containerd/containerd.sock \\
  --image-pull-progress-deadline=2m \\
  --kubeconfig=/var/lib/kubelet/kubeconfig \\
  --network-plugin=cni \\
  --register-node=true \\
  --v=2 \\
  --hostname-override=${HOSTNAME} \\
  --allow-privileged=true
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF

Configure the kube-proxy service

sudo mv kube-proxy.kubeconfig /var/lib/kube-proxy/kubeconfig

cat << EOF | sudo tee /var/lib/kube-proxy/kube-proxy-config.yaml
kind: KubeProxyConfiguration
apiVersion: kubeproxy.config.k8s.io/v1alpha1
clientConnection:
  kubeconfig: "/var/lib/kube-proxy/kubeconfig"
mode: "iptables"
clusterCIDR: "10.200.0.0/16"
EOF

cat << EOF | sudo tee /etc/systemd/system/kube-proxy.service
[Unit]
Description=Kubernetes Kube Proxy
Documentation=https://github.com/kubernetes/kubernetes

[Service]
ExecStart=/usr/local/bin/kube-proxy \\
  --config=/var/lib/kube-proxy/kube-proxy-config.yaml
Restart=on-failure
RestartSec=5

[Install]
WantedBy=multi-user.target
EOF

Successfully start all of the services

sudo systemctl daemon-reload
sudo systemctl enable containerd kubelet kube-proxy
sudo systemctl start containerd kubelet kube-proxy

sudo systemctl status containerd kubelet kube-proxy

on control node:

kubectl get nodes --kubeconfig /home/cloud_user/admin.kubeconfig