My knees,legs,ankles, and feet are swollen they say its heart failure?

Heart failure is one: cause of lower extremity swelling. Though there are many causes - too many to list here. I do see you are on ibuprofen - this could also be a cause. I would stop the ibuprofen for a few days and see if it improves. In the meantime elevate your legs and consider compression stockings. See your doctor if your symptoms persist.