For ssh servers with 2FA, with a normal password and time-based one time password.

Create a file containing your ssh password. ex: ~/.ssh/pw

Create an shell executable file printing your One time password. ex: ~/.ssh/totp

#!/bin/sh

oathtool --totp -b YOUR-SECRET-KEY

Remember setting executable bit:

chmod +x ~/.ssh/totp

Run sshpass with -f and -c parameters:

sshpass -f ~/.ssh/pw -c ~/.ssh/totp ssh your-ssh-server

You can use -v parameter if something wrong.

You can use sshpass and ssh as a proxy command for connecting beyond severs. Edit your ~/.ssh/config:

Host beyond
  ProxyCommand sshpass -f ~/.ssh/pw -c ~/.ssh/totp ssh bastion -qW %h:%p

Then run ssh.

ssh beyond

Added parameters:

-o OTP        One time password
-c command    executable file name printing one time password
-O OTP prompt Which string should sshpass search for the one time password prompt

-O option's default is Verification code:.

./bootstrap
./configure
make

You might need installing autoconf and automake.

This is a fork from the sourceforge project "sshpass".

https://sourceforge.net/projects/sshpass/

I used git-svn to create "sourceforge" branch in my github repository.