Here steps I followed:
On remote machine (Raspberry Pi running Raspbian) I run this command to create the required key:
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ssh-keygen -t rsa
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ssh-copy-id -i ~/.ssh/id_rsa.pub USER@MINT-IP
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ssh 'USER@MINT-IP'
When I do it from the other machine, i.e. follow the same steps from my Linux Mint machine, I can log into my RPi without password prompt! This to me suggests there is some setting in Mint which is disallowing login without a password.
I have the following fields in /etc/ssh/sshd_config , which should be the correct ones:
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RSAAuthentication yes
PubkeyAuthentication yes
AuthorizedKeysFile %h/.ssh/authorized_keys
Running out of ideas to troubleshoot. Any takers?