Crear claves RSA para autenticar por SSH / SSH with RSA key authentication

Material de consulta frecuente, como crear las claves para autenticar SSH y copiarlas al host destino:
Generar la clave:
 $ ssh-keygen -t rsa
Generating public/private rsa key pair.
Enter file in which to save the key (/home/usuario/.ssh/id_rsa):
Enter passphrase (empty for no passphrase):
Enter same passphrase again:
Your identification has been saved in /home/usuario/.ssh/id_rsa.
Your public key has been saved in /home/usuario/.ssh/
The key fingerprint is:
49:6d:6f:08:7b:89:53:a0:67:c9:d3:c0:ff:fd:1c:27 usuario@host
The key’s randomart image is:
+–[ RSA 2048]—-+
|       .o         |
|       o.*       |
|      . O.=     |
|       + O.+   |
|        S +.o.  |
|         o .. E..|
|               +o|
|                o |
|                    |

Copiar la clave generada:
$ ssh-copy-id -i /home/usuario/.ssh/id_rsa usuario@hostdestino


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