AppendEntries
This is a ROS service definition.
Source
uint64 term # leader's term
uint32 leader_id # so followers can redirect clients
uint64 prev_log_index # index of log entry immediately preceeding new ones
uint64 prev_log_term # term of prev_log_index
byte[] entries # log entries to store (empty for heartbeat)
uint64 leader_commit # leader's commitIndex
---
uint64 term # current term, for leader to update itself
bool success # true if follower contained entry matching
# prev_data_index and prev_data_term