# /api/system/heartbeat

## Status

- Latest Version: v1.3.0
- Method: realtime stream
- Data Type: [autoware\_adapi\_v1\_msgs/msg/Heartbeat](<../../../../types/autoware_adapi_v1_msgs/msg/Heartbeat/index.md>)

## Description

The heartbeat frequency is 10 Hz.

## Message

| Name | Type | Description |
| --- | --- | --- |
| stamp | builtin\_interfaces/msg/Time | Timestamp in Autoware for delay checking. |
| seq | uint16 | Sequence number for order verification, wraps at 65535. |