It is my understanding that a heuristic is a mental shortcut, a "solution" to a problem that is not necessarily optimal or perfect, but will do for the task at hand. This is, as you have said, a psychology term and distinct from a stereotype in that it is not really a generalization about a group of people -- but more a way to ease the difficulty of making a decision in the case where a perfect decision may be impossible or unnecessary.
I ask: why do you associate heuristic with "an oversimplified, rigid schema and the tendency to assimilate things to that schema/prototype"?
For stereotype on the other hand, yes it is an oversimplification. Schemas, to my knowledge, are mental "frameworks" that an individual constructs to make sense and organize information/the environment. As such, schemas embody preconceived ideas and values that an individual holds to be true. So, I can see how stereotypes can relate directly to schemas -- but don't really see the connection how developing a shortcut to problem solving is directly correlated with the particular schema of an individual.