static void dissect_HEARTBEAT(tvbuff_t *tvb, packet_info *pinfo, gint offset, guint8 flags,
                const guint encoding, int octets_to_next_header, proto_tree *tree,
                guint16 version, endpoint_guid *guid) {
  /* RTPS 1.0/1.1:
   * 0...2...........7...............15.............23...............31
   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
   * |   HEARTBEAT   |X|X|X|X|X|L|F|E|      octetsToNextHeader       |
   * +---------------+---------------+---------------+---------------+
   * | ObjectId readerObjectId                                       |
   * +---------------+---------------+---------------+---------------+
   * | ObjectId writerObjectId                                       |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * + SequenceNumber firstAvailableSeqNumber                        +
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * + SequenceNumber lastSeqNumber                                  +
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * | long counter                                                  |
   * +---------------+---------------+---------------+---------------+
   *
   * Notes:
   *   - on RTPS 1.0, counter is not present
   *   - on RTPS 1.0, L flag is not present
   *
   * RTPS 1.2/2.0:
   * 0...2...........7...............15.............23...............31
   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
   * |   HEARTBEAT   |X|X|X|X|X|X|F|E|      octetsToNextHeader       |
   * +---------------+---------------+---------------+---------------+
   * | EntityId readerEntityId                                       |
   * +---------------+---------------+---------------+---------------+
   * | EntityId writerEntityId                                       |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * + SequenceNumber firstAvailableSeqNumber                        +
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * + SequenceNumber lastSeqNumber                                  +
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * | Counter count                                                 |
   * +---------------+---------------+---------------+---------------+
   */
  proto_item *octet_item;
  guint32 wid;
  proto_tree_add_bitmask_value(tree, tvb, offset + 1, hf_rtps_sm_flags, ett_rtps_flags, HEARTBEAT_FLAGS, flags);

  octet_item = proto_tree_add_item(tree,
                        hf_rtps_sm_octets_to_next_header,
                        tvb,
                        offset + 2,
                        2,
                        encoding);

  if ((octets_to_next_header < 24) && (version <= 0x0101)) {
    expert_add_info_format(pinfo, octet_item, &ei_rtps_sm_octets_to_next_header_error, "(Error: should be >= 24)");
    return;
  }
  else if (octets_to_next_header < 28) {
    expert_add_info_format(pinfo, octet_item, &ei_rtps_sm_octets_to_next_header_error, "(Error: should be >= 28)");
    return;
  }

  offset += 4;

  /* readerEntityId */
  rtps_util_add_entity_id(tree, tvb, offset, hf_rtps_sm_rdentity_id, hf_rtps_sm_rdentity_id_key,
                        hf_rtps_sm_rdentity_id_kind, ett_rtps_rdentity, "readerEntityId", NULL);
  offset += 4;

  /* writerEntityId */
  rtps_util_add_entity_id(tree, tvb, offset, hf_rtps_sm_wrentity_id, hf_rtps_sm_wrentity_id_key,
                        hf_rtps_sm_wrentity_id_kind, ett_rtps_wrentity, "writerEntityId", &wid);
  offset += 4;
  guid->entity_id = wid;
  guid->fields_present |= GUID_HAS_ENTITY_ID;
  rtps_util_topic_info_add_tree(tree, tvb, offset, guid);

  /* First available Sequence Number */
  rtps_util_add_seq_number(tree, tvb, offset, encoding, "firstAvailableSeqNumber");
  offset += 8;

  /* Last Sequence Number */
  rtps_util_add_seq_number(tree, tvb, offset, encoding, "lastSeqNumber");
  offset += 8;

  /* Counter: it was not present in RTPS 1.0 */
  if (version >= 0x0101) {
    proto_tree_add_item(tree, hf_rtps_heartbeat_count, tvb, offset, 4, encoding);
  }
}