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©

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 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 (like ”1” for vmware.hv.sensor.health.state key has been added to monitor VMware hypervisor health state rollup sensor. The vmware.hv.status key, which was changed in Zabbix 2.2.10 to use health state rollup sensor, was

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 (like ”1” for be 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 (like ”1” for only the name and user parameters are supported. sensor[device,sensor,] Hardware sensor reading. Float device - device name sensor - sensor name mode - possible values: avg, max, min (if

However, all is supported in this case. 147 Key sensor[device,sensor,] Hardware sensor reading. Float device - device name sensor - sensor name mode - possible values: avg, max, min (if omitted, device and sensor are treated verbatim). Reads /proc/sys/dev/sensors on Linux 2.4. Example: => sen- sor[w83781d- i2c-0- 2d,temp1] Prior to Zabbix 1.8.4, the sensor[temp1] format was more detailed description of sensor item on Linux. Reads the hw.sensors MIB on OpenBSD. Examples: => sen- sor[cpu0,temp0] → temperature of one CPU => sensor[”cpu[0- 2]$”,temp,avg] → average

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 3 Item changes 3.1 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 However, all is supported in this case. 162 Key sensor[device,sensor,] Hardware sensor reading. Float device - device name sensor - sensor name mode - possible values: avg, max, min (if

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 only the name and user parameters are supported. sensor[device,sensor,] Hardware sensor reading. Float device - device name sensor - sensor name mode - possible values: avg, max, min (if omitted, device and sensor are treated verbatim). Reads /proc/sys/dev/sensors on Linux 2.4. Example: => sen- sor[w83781d- i2c-0- 2d,temp1] Prior to Zabbix 1.8.4, the sensor[temp1] format was

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 parameter are supported since Zabbix 3.4.0. 193 Key sensor[device,sensor,] Hardware sensor reading. Float device - device name sensor - sensor name mode - possible values: avg, max, min (if omitted, device and sensor are treated verbatim). Reads /proc/sys/dev/sensors on Linux 2.4. Example: => sen- sor[w83781d- i2c-0- 2d,temp1] Prior to Zabbix 1.8.4, the sensor[temp1] format was

id)
 .max("temp")
 maxTemp.print()
 env.execute("Compute max sensor temperature”)
 }
 } Example: Sensor Readings 7 Vasiliki Kalavri | Boston University 2020 case class Reading(id: max("temp")
 maxTemp.print()
 env.execute("Compute max sensor temperature”)
 }
 } Sensor id, timestamp, temperature reading Example: Sensor Readings 8 Vasiliki Kalavri | Boston University 2020 0)))
 .keyBy(_.id)
 .max("temp")
 maxTemp.print()
 env.execute("Compute max sensor temperature”)
 }
 } Flink programs are defined in regular Scala/Java methods Set up the

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 parameter are supported since Zabbix 3.4.0. 171 Key sensor[device,sensor,] Hardware sensor reading. Float device - device name sensor - sensor name mode - possible values: avg, max, min (if omitted, device and sensor are treated verbatim). Reads /proc/sys/dev/sensors on Linux 2.4. Example: => sen- sor[w83781d- i2c-0- 2d,temp1] Prior to Zabbix 1.8.4, the sensor[temp1] format was

parameter are supported since Zabbix 3.4.0. 183 Key sensor[device,sensor,] Hardware sensor reading. Float device - device name sensor - sensor name mode - possible values: avg, max, min (if omitted, device and sensor are treated verbatim). Reads /proc/sys/dev/sensors on Linux 2.4. Example: => sen- sor[w83781d- i2c-0- 2d,temp1] Prior to Zabbix 1.8.4, the sensor[temp1] format was more detailed description of sensor item on Linux. Reads the hw.sensors MIB on OpenBSD. Examples: => sen- sor[cpu0,temp0] → temperature of one CPU => sensor[”cpu[0- 2]$”,temp,avg] → average