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Vulnerability record · CVE-2026-26011 · published 12 February 2026

CVE-2026-26011: Opennav nav2 heap-based buffer overflow vulnerability

Opennav · Nav2

navigation2 is a ROS 2 Navigation Framework and System. In 1.3.11 and earlier, a critical heap out-of-bounds write vulnerability exists in Nav2 AMCL's particle filter clustering logic. By publishing a single crafted geometry_msgs/PoseWithCovarianceStamped message with extreme covariance values to the /initialpose topic, an unauthenticated attacker on the same ROS 2 DDS domain can trigger a negative index write (set->clusters[-1]) into heap memory preceding the allocated buffer. In Release builds, the sole boundary check (assert) is compiled out, leaving zero runtime protection. This primitive allows controlled corruption of the heap chunk metadata(at least the size of the heap chunk where the set->clusters is in is controllable by the attacker), potentially leading to further exploitation. At minimum, it provides a reliable single-packet denial of service that kills localization and halts all navigation.

9.3 CVSS 4.0 Critical EPSS 0.75% · top 47.1% CWE-122 · Heap-based buffer overflowCWE-787 · Out-of-bounds write
9.3CVSS 4.0 base score
0.75%EPSS exploitation probability, 30 days
NoNot in CISA KEV
1Affected product versions listed by NVD
4References, 2 tagged exploit
17 Jun 2026Last modified by NVD

Description

navigation2 is a ROS 2 Navigation Framework and System. In 1.3.11 and earlier, a critical heap out-of-bounds write vulnerability exists in Nav2 AMCL's particle filter clustering logic. By publishing a single crafted geometry_msgs/PoseWithCovarianceStamped message with extreme covariance values to the /initialpose topic, an unauthenticated attacker on the same ROS 2 DDS domain can trigger a negative index write (set->clusters[-1]) into heap memory preceding the allocated buffer. In Release builds, the sole boundary check (assert) is compiled out, leaving zero runtime protection. This primitive allows controlled corruption of the heap chunk metadata(at least the size of the heap chunk where the set->clusters is in is controllable by the attacker), potentially leading to further exploitation. At minimum, it provides a reliable single-packet denial of service that kills localization and halts all navigation.

CVSS:4.0/AV:N/AC:L/AT:N/PR:N/UI:N/VC:H/VI:H/VA:H/SC:N/SI:N/SA:N/E:X/CR:X/IR:X/AR:X/MAV:X/MAC:X/MAT:X/MPR:X/MUI:X/MVC:X/MVI:X/MVA:X/MSC:X/MSI:X/MSA:X/S:X/AU:X/R:

Affected products

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

References

LinkTags
https://github.com/ros-navigation/navigation2/commit/d09ea82477ce9234678a6febf6890235e0a7ce12 Patch
https://github.com/ros-navigation/navigation2/releases/tag/1.3.11 Product
https://github.com/ros-navigation/navigation2/security/advisories/GHSA-mgj5-g2p6-gc5x ExploitVendor Advisory
https://github.com/ros-navigation/navigation2/security/advisories/GHSA-mgj5-g2p6-gc5x ExploitVendor Advisory

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Related vulnerabilities

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

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Source: NIST National Vulnerability Database (record CVE-2026-26011), CISA KEV, FIRST EPSS (scores of 2026-09-26). This page is refreshed as NVD updates the record.