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Nmap is short for "network mapper" and was created as a tool specifically for "network exploration and security auditing"
Over the years it has turned into an essential tool in any network specialists toolkit whether it's administration or security focused.
Is it legal to use Nmap?
The answer is: ASK A LAWYER!
Laws can vary from jurisdiction to jurisdiction and it's not recommended to ever take advice of other people, even if they are considered "professionals".
If you are performing scans against a network as part of your job, ensure you have received express approval for the type of scan and range for which you are authorized to operate.
If you are performing a scan on another person's or companies network as part of a contractual agreement, make sure you receive an explicit Statement of Work specifying exactly what you will be doing and upon which networks you are authorized to operate.
TBD: Refer to NMAP book about the measures Nmap takes to be non-intrusive/destructive
OSSTMM
Nmap supports many different types of scans for different use cases/scanning needs.
A true professional knows which types of scan to use in the right situation.
$ nmap -sL 192.168.0.1/24 #results of private network vary
$ nmap -sL 45.33.32.156 #IP address of scanme.nmap.org
Reverse-DNS Lookup
A reverse-DNS lookup entails scanning a single or range of IP addresses to determine what DNS entries are registered to the target host/domain
This is a passive scan that is not likely to be set off any alarms
KDE Nmap (knmap)
nmap-frontend (Fedora/CentOS)
nmap-fe (Debian/Ubuntu)
Zenmap (Official)
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Nmap tutorial