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Sends a heartbeat message

PUB 
{AgentBaseTopic}/heartbeat

Sends heartbeat declaration. Mandatory for all agent types.

MQTT​

QoS0
retainfalse

Message heartbeat​

Sends a heartbeat message
{
  "name": "SimUSV1",
  "agent-uuid": "3fa85f64-5717-4562-b3fc-2c963f66afa6",
  "agent-type": "surface",
  "agent-description": "surface vessel",
  "agent-model": "usv.mini_usv",
  "levels": [
    "sensor",
    "direct execution"
  ],
  "rate": 0.2,
  "stamp": 1614080475.108,
  "type": "HeartBeat"
}