During cellular respiration, when pyruvic acid is produced from glucose (specifically during glycolysis), the other products generated in addition to the four ATP are two molecules of NADH and two molecules of pyruvate (pyruvic acid). However, since you are looking for options from the list provided and specifically focusing on what accompanies the production of ATP, the correct answer from the choices given would be heat.
So from your options: heat.
Note that sugars are the starting materials for respiration, oxygen is involved in the process mainly in aerobic respiration (but not in glycolysis itself), and water is produced in later stages such as the electron transport chain, not directly from the glycolytic pathway.