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sl-ajanthan@slajanthan-Latitude-3580:~/ansible$ ssh-keygen
Generating public/private rsa key pair.
Enter file in which to save the key (/home/sl-ajanthan/.ssh/id_rsa): id_rsa_ansible
Enter passphrase (empty for no passphrase): 
Enter same passphrase again: 
Your identification has been saved in id_rsa_ansible.
Your public key has been saved in id_rsa_ansible.pub.
The key fingerprint is:
SHA256:BwkRX9+JxkXtc0DrQOXo1soEFn9si2I4Bp3aWcTDnTU sl-ajanthan@slajanthan-Latitude-3580
The key's randomart image is:

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ajanthe@ajanthe-VirtualBox:~/.ssh$ touch authorized_keys
ajanthe@ajanthe-VirtualBox:~/.ssh$ 
ajanthe@ajanthe-VirtualBox:~/.ssh$ 
ajanthe@ajanthe-VirtualBox:~/.ssh$ 
ajanthe@ajanthe-VirtualBox:~/.ssh$ chmod 700 authorized_keys 
ajanthe@ajanthe-VirtualBox:~/.ssh$ 
ajanthe@ajanthe-VirtualBox:~/.ssh$ 
ajanthe@ajanthe-VirtualBox:~/.ssh$ ls -l
total 0
-rwx------ 1 ajanthe ajanthe 0 සැප්  10 11:37 authorized_keys

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sudo apt-get install openssh-server

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ajanthe@ajanthe-VirtualBox:~$ sudo apt-get install openssh-server
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  ncurses-term openssh-sftp-server ssh-import-id
Suggested packages:
  molly-guard monkeysphere rssh ssh-askpass
The following NEW packages will be installed:
  ncurses-term openssh-server openssh-sftp-server

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sl-ajanthan@slajanthan-Latitude-3580:~/ansible$ telnet 192.168.56.101 22
Trying 192.168.56.101...
Connected to 192.168.56.101.
Escape character is '^]'.
SSH-2.0-OpenSSH_7.6p1 Ubuntu-4ubuntu0.3

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sl-ajanthan@slajanthan-Latitude-3580:~/ansible$ ssh-copy-id -i id_rsa_ansible.pub ajanthe@192.168.56.101
/usr/bin/ssh-copy-id: INFO: Source of key(s) to be installed: "id_rsa_ansible.pub"
The authenticity of host '192.168.56.101 (192.168.56.101)' can't be established.
ECDSA key fingerprint is SHA256:0//XEhrQJAOJqbI9AuyC6ZWhB6WghvpPWVzuZfBQx/k.
Are you sure you want to continue connecting (yes/no)? yes
/usr/bin/ssh-copy-id: INFO: attempting to log in with the new key(s), to filter out any that are already installed
/usr/bin/ssh-copy-id: INFO: 1 key(s) remain to be installed -- if you are prompted now it is to install the new keys
ajanthe@192.168.56.101's password: 

Number of key(s) added: 1

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ajanthe@ajanthe-VirtualBox:~/.ssh$ cat authorized_keys 
ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQDMZVI3y0FtiviWsmTcKVFvH5iJdKSARNp7u/Xz8KYpF+SY+qgfKW/b+3icV0NVvRfllQRJx+hfgCcxPo5WoDaQY8kGvp0/YwCogI3jP6Wt2lJnhbNJUA9ULuup2gqPXrWlA//zLJ85zY41NnWJasea1zqCHX6BBwMzwMwsuzMbq1r+IsVshCn0l0ytMT3meuhWaTLgs2LLtnToxbN7zodF+uSMZkxD5uFrMaY+yM0s99kH5eVsrjfqeguk+LHndWa6nwVA4VYHUy3LP+5GRlEVkL1+SKSjsguCJYnHIHM2SXpzVTFSqRhN1eHiCeAvF/G2vXLldZ5GqPLYcv76fQc7 sl-ajanthan@slajanthan-Latitude-3580
ajanthe@ajanthe-VirtualBox:~/.ssh$ 

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sl-ajanthan@slajanthan-Latitude-3580:~/ansible$ ssh -i id_rsa_ansible ajanthe@192.168.56.101
Welcome to Ubuntu 18.04.3 LTS (GNU/Linux 5.0.0-23-generic x86_64)

 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/advantage


 * Canonical Livepatch is available for installation.
   - Reduce system reboots and improve kernel security. Activate at:

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production                # inventory file for production servers
staging                   # inventory file for staging environment

group_vars/
   group1.yml             # here we assign variables to particular groups
   group2.yml
host_vars/
   hostname1.yml          # here we assign variables to particular systems
   hostname2.yml

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inventories/
   production/
      hosts               # inventory file for production servers
      group_vars/
         group1.yml       # here we assign variables to particular groups
         group2.yml
      host_vars/
         hostname1.yml    # here we assign variables to particular systems
         hostname2.yml