Linode and Ansible

I'm following the linode_v4/ansible tutorial and it's working (https://www.linode.com/docs/guides/deploy-linodes-using-ansible/).

How do I connect to my localhost controller that's not in the linode environment if I'm setting up a dynamic inventory? What I'd like to do is dynamically update the "/etc/hosts" file with the public IPs of the linodes (The above link suggest to do it manually).