During the install process Traps should query the ESM to pull the current security policy list. If for whatever reason the first query fails you would essentially have two options.
1) Wait until the next heartbeat cycle (default 60 mins) at which point the agent should register in the ESM.
2) Utilize the 'Check In Now' link on the actual agent.
Do you have other agents that are connecting properly that you can compare settings?
Here's two things that I would recommend looking at that would stop things from working.
1) Verify that you properly imputted the server information, port and address.
2) If you are using encrypted communication verify that the certificate is installed in the trusted root certificate store. if the cert isn't trusted by the agent then they won't communicate.
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