Using Ansible to add Icinga2 agent to master node

I want to use Ansible to add Icinga2 passive monitoring for my hosts with agent monitoring. I have a single master node and am not using satellites yet.

I've had some success in setting up the client side thanks to this answer and this old post on an archived forum.

What commands do I need to run on the master node to add in the remote node?

I'm using Ansible so I specifically want to avoid the wizard they provide.