Thanks for posting this, I was second guessing that a simple nmap/fing and SSH would do the trick. From there you can set up a VNC and be able to tackle most tasks. Thats what I did on my Pi 2, not sure why it would be different on a zero.
Re:Raspberry Pi Zero Headless Setup
by davidmaitland on Wednesday December 02, 2015 @06:16PM
(#10666604)
It's no different at at. Although VNC is a bit overkill for most tasks.
Look also at the official Raspberry Pi documentation[2], which is more succinctly summed up on SO[3].
For WiFi, you can configure the microSD card in another Pi (I usually mint cards on my Mac, then configure a master copy in a Pi 2, then drop it into other Pis headless) so it has the SSID/PSK in the wpa config file.
[1] http://www.overlooksoft.com/fing [2] https://www.raspberrypi.org/documentation/troubleshooting/ha... [3] http://raspberrypi.stackexchange.com/a/13937/6506