What’s Vulnerable › Vulnerabilities

CVE-2024-25199

• Severity: high (CVSS 8.1 v3.1)
• Exploited in the wild: not listed in CISA KEV
• EPSS: 0.6% probability of exploitation in the next 30 days
• Public exploit or detection template: yes
• Published: 2024-02-20 · updated 2026-06-17
• Weakness: CWE-416

Description

Inappropriate pointer order of map_sub_ and map_free(map_) (amcl_node.cpp) in Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions leads to a use-after-free.

Affected products

• Opennav Nav2: from 1.1.0 through 1.1.17
• Open Source Robotics Foundation Robot Operating System (ROS): 2-humble

References

• https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344
• https://github.com/ros-planning/navigation2/pull/4078
• https://github.com/ros-planning/navigation2/pull/4079
• https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344
• https://github.com/ros-planning/navigation2/pull/4078
• https://github.com/ros-planning/navigation2/pull/4079

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