are trademarks of Apex.AI. CppCon 2023 Building bridges: Leveraging C++ and ROS for simulators, sensor data and algorithms Divya Aggarwal October 5, 2023© 2023 Apex.AI, Inc. | All rights reserved. visualization tool ROS based data processing publishes: /sensor topic reads: raw sensor's data subscribes: /sensor topic subscribes: /sensor topic© 2023 Apex.AI, Inc. | All rights reserved. Apex.AI commands Subscribes to ROS2 topics from the bridge Publishes sensor data as ROS2 messages Simulator commands request for sensor data Sensor data simulator’s specific API/protocol Standard ROS2 messages©

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed detailed information. 5.3 Support for IPMI discrete sensors Previously Zabbix supported reading only IPMI threshold (analog) sensors. Zabbix 2.2.0 adds reading states of IPMI discrete sensors. A new function net.if.out and net.if.total items do not provide statistics of loopback interfaces (e.g. lo0). sensor is now supported on Linux 2.6+. zabbix[hosts] internal check returns the number of monitored hosts

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed and proxy now refuse to start if StartPollersUnreachable configuration parameter is 0, but regular, IPMI or Java pollers are started. Otherwise, hosts that become unreachable would never be checked again requests, these are logged at DebugLevel=4. • If an IPMI device reports a threshold sensor and a discrete sensor under the same name, the threshold sensor is now preferred. This might fix strange readings

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed etc), remote commands on a proxy can be enabled by setting the EnableRemoteCommands parameter to ’1’. IPMI, SSH and Telnet scripts are executed even if remote commands are disabled. 4 Bulk metrics and dependent 16.1 IPMI polling Previously one BMC controller could be queried by different processes. To improve the polling speed every IPMI poller kept a connection cache. With a large number of IPMI pollers

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed are now also resolved for items without interfaces, resolving to either Zabbix agent, SNMP, JMX or IPMI interface of the host. 17 • User macros are now resolved on allowed hosts even if the macros are Item changes 7.5.1 VMware monitoring A new vmware.hv.sensor.health.state key has been added to monitor VMware hypervisor health state rollup sensor. The vmware.hv.status key was reverted back to its original

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed characters in external check parameters, for example, the $ sign. Searching IPMI sensor by full name In the IPMI sensor field for IPMI items it is now also possible to specify a search for the full name, by web monitoring poller • icmp pinger - poller for icmpping checks • ipmi manager - IPMI poller manager • ipmi poller - poller for IPMI checks • java poller - poller for Java checks • poller - normal poller

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed may happen when, for example, a counter is not initialized yet (empty or ’N/A’) or a temperature sensor returns +999°C when it is off, the normal range being -100°C up to +100°C. Validation and custom web monitoring poller • icmp pinger - poller for icmpping checks • ipmi manager - IPMI poller manager • ipmi poller - poller for IPMI checks • java poller - poller for Java checks • lld manager - manager

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed be displayed. 5.23 Macro improvements Low-level discovery macros can be used in item prototype IPMI sensor and Units fields. Host-level macros such as {HOST.HOST}, {HOST.NAME}, {HOST.IP}, {HOST.DNS}, {HOST following order: – Zabbix agent default interface – SNMP default interface – JMX default interface – IPMI default interface 10 What’s new in Zabbix 3.0.5 1 Frontend improvements • Many frontend fields

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed display host availability statistics for any number of host interface types (Zabbix agent, SNMP, JMX, IPMI). New graph prototype widget A new graph prototype widget has been added to the dashboard. In it web monitoring poller • icmp pinger - poller for icmpping checks • ipmi manager - IPMI poller manager • ipmi poller - poller for IPMI checks • java poller - poller for Java checks • lld manager - manager

gathering • availability and performance checks • support for SNMP (both trapping and polling), IPMI, JMX, VMware monitoring • custom checks • gathering desired data at custom intervals • performed prototype name. IPMI sensor discovery A new ipmi.get IPMI item has been added that returns a JSON with IPMI-sensor related information. This item can be used for the discovery of IPMI sensors. Item key when a host is created from the prototype). User macros supported in IPMI credentials 17 User macros are now supported in IPMI username and password fields in host configuration. New macros The following