попробуйте опции "-k" и в системе должен быть установлен sshpass
ansible servers -vvvv -m ping -i inventory -u vagrant -k
Выход
SSH password: <<USEr PASSWORD>>
Консольный вывод подробного
<precise32> ESTABLISH CONNECTION FOR USER: vagrant
<precise32> REMOTE_MODULE ping
<precise32> EXEC ['sshpass', '-d6', 'ssh', '-C', '-tt', '-vvv', '-o', 'ControlMaster=auto', '-o', 'ControlPersist=60s', '-o', 'ControlPath=/home/vagrant/.ansible/cp/ansible-ssh-%h-%p-%r', '-o', 'GSSAPIAuthentication=no', '-o', 'PubkeyAuthentication=no', '-o', 'ConnectTimeout=10', 'precise32', "/bin/sh -c 'mkdir -p $HOME/.ansible/tmp/ansible-tmp-1423020915.88-101376543892740 && chmod a+rx $HOME/.ansible/tmp/ansible-tmp-1423020915.88-101376543892740 && echo $HOME/.ansible/tmp/ansible-tmp-1423020915.88-101376543892740'"]
<precise32> PUT /tmp/tmpNGxttI TO /home/vagrant/.ansible/tmp/ansible-tmp-1423020915.88-101376543892740/ping
<precise32> EXEC ['sshpass', '-d6', 'ssh', '-C', '-tt', '-vvv', '-o', 'ControlMaster=auto', '-o', 'ControlPersist=60s', '-o', 'ControlPath=/home/vagrant/.ansible/cp/ansible-ssh-%h-%p-%r', '-o', 'GSSAPIAuthentication=no', '-o', 'PubkeyAuthentication=no', '-o', 'ConnectTimeout=10', 'precise32', u"/bin/sh -c 'LANG=en_US.UTF-8 LC_CTYPE=en_US.UTF-8 /usr/bin/python /home/vagrant/.ansible/tmp/ansible-tmp-1423020915.88-101376543892740/ping; rm -rf /home/vagrant/.ansible/tmp/ansible-tmp-1423020915.88-101376543892740/ >/dev/null 2>&1'"]
Окончательный результат
precise32 | success >> {
"changed": false,
"ping": "pong"
}
04.02.2015