podTemplate(containers: [
    containerTemplate(
        name: 'build',
        image: 'my_builder:latest',
        command: 'cat',
        ttyEnabled: true,
        workingDir: '/mnt/jenkins'
    )
],
volumes: [
    hostPathVolume(mountPath: '/var/run/docker.sock', hostPath: '/var/run/docker.sock'),
    hostPathVolume(mountPath: '/mnt/jenkins', hostPath: '/mnt/jenkins')
],
yaml: """
spec:
 containers:
   - name: build
     resources:
       requests:
         cpu: "10"
         memory: "10Gi" 
 securityContext:
   fsGroup: 995
"""
)
{
    node(POD_LABEL) {
        stage("Checkout") {
        }       
        // more stages
    }
}

Inbound agent connected from IP/IP
Waiting for agent to connect (0/100): my_branch
Remoting version: 3.35
This is a Unix agent
Waiting for agent to connect (1/100): my_branch
Agent successfully connected and online
ERROR: Connection terminated
java.nio.channels.ClosedChannelException
    at org.jenkinsci.remoting.protocol.NetworkLayer.onRecvClosed(NetworkLayer.java:154)
    at org.jenkinsci.remoting.protocol.impl.NIONetworkLayer.ready(NIONetworkLayer.java:142)
    at org.jenkinsci.remoting.protocol.IOHub$OnReady.run(IOHub.java:795)
    at jenkins.util.ContextResettingExecutorService$1.run(ContextResettingExecutorService.java:28)
    at jenkins.security.ImpersonatingExecutorService$1.run(ImpersonatingExecutorService.java:59)
    at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
    at java.lang.Thread.run(Thread.java:748)

2019-10-08 14:40:48.171+0000 [id=287] WARNING o.c.j.p.k.KubernetesLauncher#launch: Error in provisioning; agent=KubernetesSlave name: branch_name, template=PodTemplate{, name='pod_name', namespace='default', label='label_name', nodeUsageMode=EXCLUSIVE, volumes=[HostPathVolume [mountPath=/var/run/docker.sock, hostPath=/var/run/docker.sock], HostPathVolume [mountPath=/mnt/jenkins, hostPath=/mnt/jenkins]], containers=[ContainerTemplate{name='build', image='my_builder', workingDir='/mnt/jenkins', command='cat', ttyEnabled=true, envVars=[KeyValueEnvVar [getValue()=deploy/.dazelrc, getKey()=RC_FILE]]}], annotations=[org.csanchez.jenkins.plugins.kubernetes.PodAnnotation@aab9c821]} io.fabric8.kubernetes.client.KubernetesClientTimeoutException: Timed out waiting for [100000] milliseconds for [Pod] with name:[branch_name] in namespace [default]. at org.csanchez.jenkins.plugins.kubernetes.AllContainersRunningPodWatcher.await(AllContainersRunningPodWatcher.java:130) at org.csanchez.jenkins.plugins.kubernetes.KubernetesLauncher.launch(KubernetesLauncher.java:134) at hudson.slaves.SlaveComputer$1.call(SlaveComputer.java:297) at jenkins.util.ContextResettingExecutorService$2.call(ContextResettingExecutorService.java:46) at jenkins.security.ImpersonatingExecutorService$2.call(ImpersonatingExecutorService.java:71) at java.util.concurrent.FutureTask.run(FutureTask.java:266) at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149) at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624) at java.lang.Thread.run(Thread.java:748)