In order to add Identity Provider and Service Provider, please follow this steps:

1. Add these security-domain elements to your security subsystem:

<security-domain name="idp" cache-type="default">
    <authentication>
        <login-module code="UsersRoles" flag="required">
            <module-option name="usersProperties" value="users.properties"/>
            <module-option name="rolesProperties" value="roles.properties"/>
        </login-module>
    </authentication>
</security-domain>
<security-domain name="sp" cache-type="default">
    <authentication>
        <login-module code="org.picketlink.identity.federation.bindings.jboss.auth.SAML2LoginModule" flag="required"/>
    </authentication>
</security-domain>

1. Deploy the applications from the attached picketlink-apps.zip.

Of course, you also need both PicketLink Extension and picketlink-federation subsystem. It seems you already have them properly configured.

Regards.