Multiple tools have emerged to support the development as well as the continuous deployment of cloud-based software systems. However, currently, there is a lack of proper tool support for the continuous orchestration and deployment of software systems spanning across the IoT, edge, and cloud space. In particular, there is a lack of languages and abstractions that can support the orchestration and deployment of software services across vastly heterogeneous IoT infrastructures. In this paper, we present a tool supported framework for the continuous orchestration and deployment of IoT systems, named GeneSIS. In particular, GeneSIS enables to cope with the heterogeneity at each of the IoT, edge, and cloud levels and allows to control the orchestration and continuous deployment of software systems that executes across IoT, edge, and cloud infrastructures.