How to setup L2TP over IPsec for iDRAC on Linux Ubuntu 16.10

Please refer to How to set up L2TP over IPsec for iDRAC on Linux Ubuntu 16.04 and 16.10 for instructions on setting up L2TP over IPsec for iDRAC on Ubuntu 16.10. The steps are identical for both Ubuntu 16.04 and Ubuntu 16.10.