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The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes.This paper focuses on controllability of heterogeneous multi-agent networks,where the agents are modeled as generic linear dynamic systems,and the dynamics are supposed to be heterogeneous.A necessary and sufficient condition for controllability of heterogeneous-dynamic networks is that each agent contains a controllable dynamic part,and the interconnection topology of the network is leader-follower connected.If some dynamics of the agents are not controllable,the controllability between the agents and the whole network is also studied by introducing the concept of eigenvector-uncontrollable.Different illustrative examples are provided to demonstrate the effectiveness of the theoretical results in this paper.