sudoできるユーザの作成

$ useradd -m -d /home/ansible_deploy_user/ -s /bin/bash -G sudo ansible_deploy_user
$ touch /etc/sudoers.d/ansible_deploy_user
$ echo "ansible_deploy_user ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/ansible_deploy_user

SSHで接続する為の設定

$ sudo su - ansible_deploy_user
$ mkdir /home/ansible_deploy_user/.ssh

$ echo "公開鍵の中身" > /home/ansible_deploy_user/.ssh/authorized_keys

$ chmod 700 /home/ansible_deploy_user/.ssh
$ chmod 600 /home/ansible_deploy_user/.ssh/authorized_keys