Spark streaming error: Issue communicating with driver in heartbeater - scala

Question

I'm experimenting an issue with heartbeating when I running my Spark Streaming app.
I know the meaning of heartbeating, I have tried to increase its value in "spark.executor.heartbeatInterval", but the issue it still remaing.
My config is:
4 executors
4 cores per executor
6GB RAM per executor
Spark streaming time window: 30s
Each batch takes between 2s and 28s to complete
In the logs I can see how, suddenly, executors start to log "Issue communicating with driver in heartbeater" and when the it happen X times, the executor shutdown (as the spark doc says).
In the logs I can't see any exception (such as OOM or something about GC). Simply, some time (some hours after starting), heartbeater fails.
I have read about to repartition data to try to solve the issue, but I can't because it is a Kafka Direct appication and each partition is partial ordered so I don't do repartition anytime.
This is the trace I can see:
2018/12/16 13:44:26:317 WARN org.apache.spark.executor.Executor: Issue communicating with driver in heartbeater
org.apache.spark.rpc.RpcTimeoutException: Futures timed out after [10 seconds]. This timeout is controlled by spark.executor.heartbeatInterval
at org.apache.spark.rpc.RpcTimeout.org$apache$spark$rpc$RpcTimeout$$createRpcTimeoutException(RpcTimeout.scala:47)
at org.apache.spark.rpc.RpcTimeout$$anonfun$addMessageIfTimeout$1.applyOrElse(RpcTimeout.scala:62)
at org.apache.spark.rpc.RpcTimeout$$anonfun$addMessageIfTimeout$1.applyOrElse(RpcTimeout.scala:58)
at scala.runtime.AbstractPartialFunction.apply(AbstractPartialFunction.scala:36)
at org.apache.spark.rpc.RpcTimeout.awaitResult(RpcTimeout.scala:76)
at org.apache.spark.rpc.RpcEndpointRef.askSync(RpcEndpointRef.scala:92)
at org.apache.spark.executor.Executor.org$apache$spark$executor$Executor$$reportHeartBeat(Executor.scala:785)
at org.apache.spark.executor.Executor$$anon$2$$anonfun$run$1.apply$mcV$sp(Executor.scala:814)
at org.apache.spark.executor.Executor$$anon$2$$anonfun$run$1.apply(Executor.scala:814)
at org.apache.spark.executor.Executor$$anon$2$$anonfun$run$1.apply(Executor.scala:814)
at org.apache.spark.util.Utils$.logUncaughtExceptions(Utils.scala:1988)
at org.apache.spark.executor.Executor$$anon$2.run(Executor.scala:814)
at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
at java.util.concurrent.FutureTask.runAndReset(FutureTask.java:308)
at java.util.concurrent.ScheduledThreadPoolExecutor$ScheduledFutureTask.access$301(ScheduledThreadPoolExecutor.java:180)
at java.util.concurrent.ScheduledThreadPoolExecutor$ScheduledFutureTask.run(ScheduledThreadPoolExecutor.java:294)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
at java.lang.Thread.run(Thread.java:745)
Caused by: java.util.concurrent.TimeoutException: Futures timed out after [10 seconds]
at scala.concurrent.impl.Promise$DefaultPromise.ready(Promise.scala:219)
at scala.concurrent.impl.Promise$DefaultPromise.result(Promise.scala:223)
at org.apache.spark.util.ThreadUtils$.awaitResult(ThreadUtils.scala:201)
at org.apache.spark.rpc.RpcTimeout.awaitResult(RpcTimeout.scala:75)
... 14 more