With the rpm

wget http://dl.fedoraproject.org/pub/epel/epel-release-latest-7.noarch.rpm
rpm --import https://dl.fedoraproject.org/pub/epel/RPM-GPG-KEY-EPEL-7
rpm -ivh epel-release-latest-7.noarch.rpm
# the epel repo must be now available
yum repolist

With ansible

• Add the EPEL repo The variable $releasever becomes 7Server and $basearch x86_64 on my machine which leads to the following repo definition file https://dl.fedoraproject.org/pub/epel/7Server/x86_64/repodata/repomd.xml

- name: Add the EPEL repository
    become: yes
    yum_repository:
      name: epel
      description: EPEL YUM repo
      baseurl: https://dl.fedoraproject.org/pub/epel/$releasever/$basearch/
      gpgcheck: yes

• Add the Key

  - name: "Adds the gpg key from the EPEL repo"
    become: yes
    rpm_key:
      state: present
      key: https://dl.fedoraproject.org/pub/epel/RPM-GPG-KEY-EPEL-7

• Add a package. Example with JSON - Jq Command line processor

  - name: "Install Jq"
    become: yes
    yum:
      name: jq
      enablerepo: epel
      state: present