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I just wanted to chime in here, but after the announcement this week from DockerCon Europe it seems that Docker is moving away from Swarm, or at least beginning to warm up to Kubernetes. K8S is clearly going to win the battle based on how things are looking today.
There is no extension to monitor swarm. You can still install machine agent in the docker host machine or as a container. I haven't tried this though.
Also, please refer to this document for 1st class support for docker with Server Visibility feature.