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Automatically Manage New Agents as Nodes

I have a case where servers are deployed with the agent. Therefore I want to automate the process of managing the agents to nodes.

I am trying to create a powershell script using the orion sdk that will find all unmanaged agents and manage them as nodes in solarwinds. I have found scripts that add node via SNMP or WMI, but I need to do the same thing just with an agent. Does anyone have any expirence with this?