bsnmp-ping is a module for bsnmpd which allows you to measure latency and reachability. It sends out ICMP packets to the configured hosts. A history of received packets is maintained, and you can query via SNMP how many dropped packets, maximum/minumum latency and other stats for that history period.
Source:
bsnmp-ping-0.2.tar.gz
bsnmp-ping-0.1.tar.gz
See the license. Contact me when bugs are found.