vSphere HA agent for this host has an error: The vSphere HA agent is not reachable from vCenter Server |Vsphere HA status error | vCenter server 7.0

When you enable Vcenter HA on vsphere7.0 esxi cluster if you see any of the below error:

vSphere HA agent for this host has an error: The vSphere HA agent is not reachable from vCenter Server

Vsphere HA status error

vSphere HA agent cannot be installed or configured 

Solution:

-Download latest Vmware tools VIB package from:

  https://my.vmware.com/group/vmware/downloads/details?downloadGroup=VMTOOLS1125&productId=974&rPId=58693

-winscp to ESXi host the zip file of VIB.

-Install the package:

 esxcli software vib install -d  "/tmp/VMware-Tools-11.2.5-core-offline-depot-ESXi-all-17337674.zip"

-Reboot the Esxi.

-Right click on the esxi to do "Reconfigure vSphere HA"