diff --git a/src/px4_connection/src/heartbeat.cpp b/src/px4_connection/src/heartbeat.cpp
index e8bccfa1..6fb9240a 100644
--- a/src/px4_connection/src/heartbeat.cpp
+++ b/src/px4_connection/src/heartbeat.cpp
@@ -24,9 +24,9 @@ public:
     HeartBeat() : Node("heartbeat")
     {
         // disarm_service_ = this->create_service<std_srvs::srv::Empty>("drone/disarm", std::bind(&PX4Controller::handle_disarm_request, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
-        vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("drone/set_vehicle_control", std::bind())
-                                        // create a publisher on the offboard control mode topic
-                                        offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
+        vehicle_control_mode_service_ = this->create_service<drone_services::srv::SetVehicleControl>("drone/set_vehicle_control", std::bind(&Heartbeat::handle_vehicle_control_change, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+        // create a publisher on the offboard control mode topic
+        offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
         // create timer to send heartbeat messages (offboard control) every 100ms
         timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this));
         start_time = this->get_clock()->now().seconds();
@@ -66,7 +66,7 @@ private:
     }
 
     void handle_vehicle_control_change(
-        const std::shared_ptr<rmw_request_id> request_header,
+        const std::shared_ptr<rmw_request_id_t> request_header,
         const std::shared_ptr<drone_services::srv::SetVehicleControl::Request> request,
         const std::shared_ptr<drone_services::srv::SetVehicleControl::Response> response)
     {