icinga2-node-setup.yml

---
- name: Setup Icinga2 Client
  hosts: all
  vars:
    icinga2_pki_path: /var/lib/icinga2/certs
    icinga2_master: "icinga-master.fqdn"
    icinga2_cn: "{{ inventory_hostname }}"
    icinga2_zone: "{{ inventory_hostname }}"
    # connection direction: master <- client
    icinga2_endpoint: "icinga-satellite-or-master.fqdn,icinga-satellite-or-master.fqdn,5665"
    # or with master -> client
    # icinga2_endpoint: "icinga-satellite-or-master.fqdn"
    icinga2_parent_zone: "icinga-satellite-or-master.zone"
    icinga2_parent_host: "icinga-satellite-or-master.fqdn"
    icinga2_accept_commands: yes
    icinga2_accept_config: yes
    icinga2_disable_confd: yes
    # Additional global zones 
    icinga2_global_zones:
      - commands-linux
    icinga2_user: icinga
    icinga2_group: icinga
    # Set to yes to purge existing certificates
    icinga2_rebuild_certificates: no

  tasks:
    - name: Remove existing certificates
      file:
        name: "{{ item }}"
        state: absent
      with_items:
        - "{{ icinga2_pki_path }}/trusted-master.crt"
        - "{{ icinga2_pki_path }}/{{ icinga2_cn }}.key"
        - "{{ icinga2_pki_path }}/{{ icinga2_cn }}.crt"
      when: icinga2_rebuild_certificates

    - name: Fetch ticket from master
      shell: |
        icinga2 pki ticket --cn {{ icinga2_cn }}
      register: icinga2_ticket
      delegate_to: "{{ icinga2_master }}"
      changed_when: false

    - name: Fetch trusted master certificate
      shell: |
        icinga2 pki save-cert --trustedcert {{ icinga2_pki_path }}/trusted-master.crt --host {{ icinga2_parent_host }}
      args:
        creates: "{{ icinga2_pki_path }}/trusted-master.crt"

    - name: Run node setup
      shell: |
        icinga2 node setup --ticket {{ icinga2_ticket.stdout_lines[0] }} \
         --cn {{ icinga2_cn }} \
         --zone {{ icinga2_zone }} \
        --endpoint {{ icinga2_endpoint }} \
        --parent_host {{ icinga2_parent_host }} \
        --parent_zone {{ icinga2_parent_zone }} \
        --trustedcert {{ icinga2_pki_path }}/trusted-master.crt \
        {{ '--accept-config' if icinga2_accept_config }} \
        {{ '--accept-commands' if icinga2_accept_commands }} \
        {{ '--disable-confd' if icinga2_disable_confd }} \
        {% for zone in icinga2_global_zones | default([])  %}--global_zones {{ zone }}{% endfor %}
      args:
        creates: "{{ icinga2_pki_path }}/{{ icinga2_cn }}.crt"
      notify: Restart Icinga2

    - name: Ensure that Icinga2 is enabled and running
      service:
        name: icinga2
        enabled: true
        state: started

  handlers:
    - name: Restart Icinga2
      service:
        name: icinga2
        state: restarted

Thanks for the feedback. I have created a ansible role for this:
https://github.com/nbuchwitz/ansible-icinga2/

For now this role only installs the icinga2 client and configure the satellite / client like this gist, but I plan to extend the role for other features like director integration etc.