messaging between two ubuntu vm on vmware using sensu via rabbitmq.

I would like to an explain about title.

How to connect two ubuntu vm on vmware. One vm will be server and the second will be client. They will send messages to each other. We will use sensu. We should configure them to connect to rabbitmq and they will send messages each other by using rabbitmq message bus. However I don’t know how can we do this job. Please explain step by step.