Out of cluster nodes

Just starting out trying to get an out of cluster node to join a kubernetes based server cluster. Multiple times in the documentation it highlights that the external agent needs to be able to talk to the pods to link up, but I’m not clear how to do this with the consul helm chart I’m using to install the server cluster in kubernetes. Any pointers on more practical advice would be appreciated as I can’t find anyone doing a basic walkthrough for this.

I have seen this documentation, but haven’t done this myself.

At my company, we actually run consul on the kube minion hosts, and just have the pods talk to those instances. Then it is easy for out of kube nodes to join the cluster.