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Your cloud has a dashboard IP address. To launch an instance on your cloud from the dashboard, be it a VM or a baremetal instance, point your browser to that IP address and launch the instance. The browser can run on any PC or even tablet or smartphone that has a connection to the dashboard IP address.

Don't use the Heat dashboard. Heat is for setting up entire stacks of instances, networks, routers, volumes and other resources. Use the Compute dashboard.

In order to add a baremetal host to your undercloud, you need to use the undercloud's IP address. Read the Red Hat documentation what needs to be done.

To launch instances from the command line, again you have IP addresses through which you access your cloud. You don't have to log on to a controller; you just need a system that runs the openstack client and has connectivity to the IP addresses.