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As of kubernetes 1.15, you can do a rolling restart of all pods for a deployment without taking the service down. To achieve this we'll have to use kubectl rollout restart.
Let's asume you have a deployment with two replicas:
$ kubectl get pods NAME READY STATUS RESTARTS AGE pet2cattle-5454555dbb-6jtnz 1/1 Running 0 131m pet2cattle-5454555dbb-czw42 1/1 Running 0 19s