The image explains best. The non-router (battery) devices like xiaomi, philips hue switches etc. are not attached to any router of coordinator in de drawing. All devices work, there is just no lines.
I am running zigbee2mqtt edge and the latest CC2530 + CC2591 firmware 1.2
For zigbee2mqtt there are several ways. There is a custom component in HACS, you can use the add-on zigbee2mqtt assistant, or publish a message to mqtt and copy the answer in webviz.
There is a variant of the ZHA component by Yoda-X called ha-zha-new, but it requires his version of bellows and zigpy. It has a script that will generate a network map.
I have hacked on his changes to the mainline bellows and zigpy to generate a neighbours list, and have been playing with d3js to generate a diagram. I’m hoping I can contribute it back into the mainline code but it’s not ready for primetime.