I followed the instructions on this page to build and deploy Mesos. I did this on a Ubuntu Trusty VM with 1 Mesos master and 1 slave. The following commands are what I used to run Mesos.

$ mesos-master --ip=10.0.2.15 --work_dir=/var/lib/mesos --log_dir=/var/log/mesos
$ mesos-slave --master=10.0.2.15:5050 --containerizers=docker,mesos 

All of three tests finished without error message.

Then I followed this page to deploy Kubernetes. After building Kubernetes-Mesos, I used the following commands to deploy Kubernetes.

$ export KUBERNETES_MASTER_IP=10.0.2.15
$ export KUBERNETES_MASTER=http://${KUBERNETES_MASTER_IP}:8888
$ docker run -d --hostname $(uname -n) --name etcd \
  -p 4001:4001 -p 7001:7001 quay.io/coreos/etcd:v2.0.12 \
  --listen-client-urls http://0.0.0.0:4001 \
  --advertise-client-urls http://${KUBERNETES_MASTER_IP}:4001

etcd container is running.

$ export PATH="$(pwd)/_output/local/go/bin:$PATH"
$ export MESOS_MASTER=10.0.2.15:5050
$ cat <<EOF >mesos-cloud.conf
  [mesos-cloud]
        mesos-master        = ${MESOS_MASTER}
  EOF
$ km apiserver \
  --address=${KUBERNETES_MASTER_IP} \
  --etcd-servers=http://${KUBERNETES_MASTER_IP}:4001 \
  --service-cluster-ip-range=10.10.10.0/24 \
  --port=8888 \
  --cloud-provider=mesos \
  --cloud-config=mesos-cloud.conf \
  --secure-port=0 \
  --v=1 >apiserver.log 2>&1 &
$ km controller-manager \
  --master=${KUBERNETES_MASTER_IP}:8888 \
  --cloud-provider=mesos \
  --cloud-config=./mesos-cloud.conf  \
  --v=1 >controller.log 2>&1 &
$ km scheduler \
  --address=${KUBERNETES_MASTER_IP} \
  --mesos-master=${MESOS_MASTER} \
  --etcd-servers=http://${KUBERNETES_MASTER_IP}:4001 \
  --mesos-user=root \
  --api-servers=${KUBERNETES_MASTER_IP}:8888 \
  --cluster-dns=10.10.10.10 \
  --cluster-domain=cluster.local \
  --v=2 >scheduler.log 2>&1 &

Logs seem correct, no error message.

kubectl get services shows:

NAME             CLUSTER-IP    EXTERNAL-IP   PORT(S)     AGE
k8sm-scheduler   10.10.10.50   <none>        10251/TCP   1m
kubernetes       10.10.10.1    <none>        443/TCP     2m

Then I created a simple nginx pod, kubectl get pods always shows it's pending. kubectl get events shows:

FIRSTSEEN   LASTSEEN   COUNT     NAME      KIND      SUBOBJECT   TYPE      REASON             SOURCE                 MESSAGE
2m          47s        9         nginx     Pod                   Warning   FailedScheduling   {default-scheduler }   Error scheduling: No suitable offers for pod/task

What does it mean by No suitable offers for pod/task? In Mesos' log, I see Mesos keeps sending offer to Kubernetes framework, but keeps being DECLINED. If I run mesos-execute --master=10.0.2.15:5050 --name=echo --command="echo 'hello world'" --containerizer=docker --docker_image=ubuntu:14.04 it can deploy a Docker image with "mesos-" prefix and run the command. So it seems Docker containerizer works properly.