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I had to declare a single command for each attribute i wanted to monitor. But i have 210 jmx checks to monitor.
So, after having tests about how to template jmx checks, finally syabru nagios plugin made it.

What i obtained with this "check_jmx" plugin with this setup :
- nrpe host client :
command[test_check_jmx]=/usr/local/nagios/libexec/check_jmx -U service:jmx:rmi:///jndi/rmi://localhost:$ARG1$/jmxrmi -O org.apache.camel:context=$ARG2$/mainContext,type=$ARG3$,name=\"$ARG4$\" -A $ARG5$ -w $ARG6$ -c $ARG7$
- nagios nrpe server :
./check_nrpe -H 10.20.0.11 -u -c test_check_jmx_dcd_failures -a 10010 satais-esb1 processors threadProcessor FailuresHandled 1 10
JMX UNKNOWN java.lang.NumberFormatException: For input string: "10satais-esb1/mainContext,type=processors,name="threadProcessor"" connecting to org.apache.camel:context=satais-esb1/mainContext,type=processors,name="threadProcessor" by URL service:jmx:rmi:///jndi/rmi://localhost:10010/jmxrmiorg.nagios.ParseError: java.lang.NumberFormatException: For input string: "10satais-esb1/mainContext,type=processors,name="threadProcessor"" at org.nagios.JMXQuery.parse(JMXQuery.java:250) at org.nagios.JMXQuery.main(JMXQuery.java:74) Caused by: java.lang.NumberFormatException: For input string: "10satais-esb1/mainContext,type=processors,name="threadProcessor"" at java.lang.NumberFormatException.forInputString(NumberFormatException.java:65) at java.lang.Long.parseLong(Long.java:438) at java.lang.Long.parseLong(Long.java:478) at org.nagios.JMXQuery.parse(JMXQuery.java:242) ... 1 more Usage: check_jmx -help

- And with the syabru nagios jmx plugin :
./check_nrpe -H 10.20.0.11 -u -c test_check_jmx_dcd_failures -a 10010 satais-esb1 processors threadProcessor FailuresHandled 1 10
JMX OK - FailuresHandled = 0 | 'FailuresHandled'=0;1;10;;

I tested "check_jmx", "check_jmx 2" plugins, and finally this one, which works very well.
- the "check_jmx" plugin couldn't parse correctly the arguments given, and had to apply a hack to obtain perfdata,
- this plugin includes perfdata natively.

Here is an example :

- on nrpe client host :
-- cfg file included by nrpe.cfg :
command[test_check_jmx]=/usr/local/nagios/libexec/check_jmx -U service:jmx:rmi:///jndi/rmi://localhost:$ARG1$/jmxrmi -O org.apache.camel:context=$ARG2$/mainContext,type=$ARG3$,name=\"$ARG4$\" -A $ARG5$ -w $ARG6$ -c $ARG7$
- on nagios nrpe server :
-- command line test :
./check_nrpe -H 10.20.0.11 -u -c test_check_jmx_dcd_failures -a 10010 satais-esb1 processors threadProcessor FailuresHandled 1 10
-- result :
JMX OK - FailuresHandled = 0 | 'FailuresHandled'=0;1;10;;

Install OK,
But couldn't proceed to step 2.
This error is returned :
"Waiting for configuration verification....
Backend login to the Core Config Manager failed."