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Vulnerability record · CVE-2024-25199 · published 20 February 2024

CVE-2024-25199: Opennav nav2 use after free vulnerability

Opennav · Nav2

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.

8.1 CVSS 3.1 High EPSS 0.58% · top 54.7% CWE-416 · Use after free
8.1CVSS 3.1 base score
0.58%EPSS exploitation probability, 30 days
NoNot in CISA KEV
2Affected product versions listed by NVD
6References, 2 tagged exploit
17 Jun 2026Last modified by NVD

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.

CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H

Affected products

2 vulnerable configurations from NVD's CPE data, grouped by vendor and product.

References

LinkTags
https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344 Product
https://github.com/ros-planning/navigation2/pull/4078 ExploitIssue TrackingPatch
https://github.com/ros-planning/navigation2/pull/4079 Issue TrackingPatch
https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344 Product
https://github.com/ros-planning/navigation2/pull/4078 ExploitIssue TrackingPatch
https://github.com/ros-planning/navigation2/pull/4079 Issue TrackingPatch

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Related vulnerabilities

Same products first, then exploited flaws of the same weakness class.

9.8CVE-2024-39780Openrobotics robot operating system improper input validation vulnerabilityA YAML deserialization vulnerability was found in the Robot Operating System (ROS) 'dynparam', a command-line tool for getting, setting, and deleting…EPSS 0.39%9.8CVE-2024-41649Openrobotics robot operating system vulnerabilityInsecure Permissions vulnerability in Open Robotics Robotic Operating System 2 ROS2 navigation2 v.humble allows an attacker to execute arbitrary code…EPSS 0.70%9.8CVE-2024-41650Openrobotics robot operating system vulnerabilityInsecure Permissions vulnerability in Open Robotics Robotic Operating System 2 ROS2 navigation2 v.humble allows an attacker to execute arbitrary code…EPSS 0.48%9.8CVE-2024-44852Openrobotics robot operating system vulnerabilityOpen Robotics Robotic Operating System 2 ROS2 navigation2 v.humble was discovered to contain a segmentation violation via the component theta_star::T…EPSS 0.60%9.8CVE-2024-38925Openrobotics robot operating system use after free vulnerabilityOpen Robotics Robotic Operating System 2 (ROS2) and Nav2 humble versions were discovered to contain a use-after-free via the nav2_amcl process. This …EPSS 0.59%9.8CVE-2024-38926Openrobotics robot operating system use after free vulnerabilityOpen Robotics Robotic Operating System 2 (ROS2) and Nav2 humble versions were discovered to contain a use-after-free via the nav2_amcl process. This …EPSS 0.59%9.8CVE-2024-38927Openrobotics robot operating system use after free vulnerabilityOpen Robotics Robotic Operating System 2 (ROS2) and Nav2 humble versions were discovered to contain a use-after-free via the nav2_amcl process. This …EPSS 0.59%9.8CVE-2024-41644Openrobotics robot operating system vulnerabilityInsecure Permissions vulnerability in Open Robotics Robotic Operating System 2 ROS2 navigation2 v.humble allows an attacker to execute arbitrary code…EPSS 0.70%

Source: NIST National Vulnerability Database (record CVE-2024-25199), CISA KEV, FIRST EPSS (scores of 2026-09-27). This page is refreshed as NVD updates the record.