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The OpenNMS monitoring system has the ability to automatically discover and display links between nodes and networking equipment. The module is called linkd and is a very handy way of visualizing system layout and tracking switchports and interfaces (e.g. you can see what's connected to a switch and vice-versa).

I'm curious if any of the other monitoring packages out there offer similar functionality, or is the concept of linkd unique to OpenNMS?

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Off the top of my head, SolarWinds' User Device Tracker is somewhat similar, and should plug into their Orion NPM product.

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I'm not sure it is what you want, but take a look at NACE or netdot. It can create Nagios configuration for monitoring hosts. I also see that the GroundWork Enterprise edition provide topology discovery feature.

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