It is a manual process, you need to launch Jboss discover UI using Targets > Middlware page.
Also, please use JVMD for more detailed analysis.
You need to specify JARs based on the version of the JBoss -
Note - Please check the support site for exact certified versions of JBoss.
dom4j.jar jboss-management.jar jnp-client.jar
concurrent.jar jboss-javaee.jar jboss-serialization.jar
dom4j.jar jboss-jsr77-client.jar jbosssx-as-client.jar
jbossall-client.jar jboss-logging-spi.jar jbosssx-client.jar
jboss-client.jar jboss-management.jar jnp-client.jar
jboss-common-core.jar jboss-remoting.jar jboss-integration.jar jboss-security-spi.jar
If you plan to use JVMD then you should select Remote Agent for discovery/monitoring.
JNDI service should be configured and Naming Service port should be open.
Agent should be able to communicate with the host and JNDI port.
Above list of JARs to be copied on the agent machine (location provided as library path during discovery)
Could you please share customer details and usecases.