How to configure password less connectivity between Linux servers - rsa keys generation on linux

In my environment i have two machines named testa and testb.

Step 1- Generate rsa keys on both machines.

ssh-keygen -t rsa

Step 2: Create a file named authorized keys on both machines.

touch ~/.ssh/authorized_keys

Now copy public key from testa to testb and from testb to testa

ssh-copy-id -i ~/.ssh/id_rsa.pub testb

ssh-copy-id -i ~/.ssh/id_rsa.pub testa