Heartbeat ICMP configs on systems with no ipv6 support fail with the error here, even if the config only points to ipv4 addresses.
The root issue seems to be that not having ipv6 support is fatal to heartbeat, when it should just execute the monitor and return an error status with each check. Errors in the ICMP loop should not cause heartbeat to exit.
The workaround for this, for now, would be to add the ipv6: false option to all monitors.
This is also probably a bug on systems with ipv6 support only (no ipv4)