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Add the line server = foreman.rmlab
to the "agent" section of puppet agent conf file (/etc/puppet/puppet.conf)
Run puppet agent --test
If the host domain is different from ".rmlab" you have to accept the connection to the puppet master: go to Foreman Web UI → Infrastructure → Smart Proxy → Certificates and enable agent hostname
Assign node from Foreman Web UI to an host group or config group
Run puppet agent --test
to apply first configuration