I use this script to quickly build myself a temporary machine, should the need arise.
Install Ubuntu 16.04 LTS as per normal and ensure the openssh-server package is installed. On your Ansible machine you will need sshpass installed if you wish to use password auth.
Download the Nessus deb file and Kali ova files to the directory files and then run with the following command.
ansible-playbook -i inventory build.yml