Inappropriate pointer order of map_sub_ and map_free(map_) (amcl_node.cpp) in Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humb
Noroxi assessment
Priority: Monitor (action score 32/100)
- The sources we track (CISA KEV, Exploit-DB, Metasploit, Nuclei, GitHub) show no public exploit code or exploitation in the wild.
- Probability of exploitation in the next 30 days: 0.57% (FIRST EPSS).
- Someone on the same network segment can trigger it. No account or password is required. No user action is required. No special conditions are required; it is repeatable.
- No fixed version is recorded, but the references include a patch (commit or PR) link.
Low priority for now. See the fix and affected versions sections below.
Generated automatically from the record's data: CVSS (NVD and CNA), CISA KEV and SSVC, FIRST EPSS, exploit sources, fixed versions. How we calculate it
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.
- Published
- Feb 20, 2024
- Updated
- Jun 17, 2026
- EPSS
- 0.6% · 46th percentile
- CWE
- CWE-416
Report tools
Action score
32
Monitor
Low priority for now.
- CVSS
- 32 / 40 · 8.1 / 10
- CISA KEV
- 0 / 30 · Not listed
- EPSS
- 0 / 30 · 0.6%
CISA SSVC decision
- Exploitation
- proof of concept
- Automatable
- no
- Technical impact
- total
Vulnrichment: CISA's decision-tree inputs.
Get told when this record changes
- Not in KEV: no record of exploitation in the wild
- No public exploit code on record
- No fixed version yet
If any of these changes, we'll tell you in the daily email digest.
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Noroxi analysis
What does it mean in your environment?
The assessment above is generated automatically from the record's data; it doesn't know your environment. Our team verifies on your systems whether this vulnerability is actually exploitable and which mitigation is enough.
We use this product, ask for helpAffected systems
Is your version affected?
Pick the product and type the version you run. It's compared with this record's version ranges in your browser; the version isn't sent anywhere.
| Vendor | Product | CPE |
|---|---|---|
| opennav | nav2 | cpe:2.3:a:opennav:nav2 |
| openrobotics | robot operating system | cpe:2.3:o:openrobotics:robot_operating_system |
Affected versions
NVD version ranges (for catalog products). Add the product to your stack with a version and matching uses these.
- opennav nav21.1.0 and later · up to 1.1.17 inclusive
- openrobotics robot operating system2
Same product
opennav: all recordsOther highest-scoring records for the same primary product.
- CVE-2026-26011Critical Heap Out-of-bounds Access in `pf_cluster_stats()` via Malicious /initialpose Covariance -- Potential Remote Code Execution37Monitor
- CVE-2024-25198Inappropriate pointer order of laser_scan_filter_.reset() and tf_listener_.reset() (amcl_node.cpp) in Open Robotics Robotic Operating Sytste36Monitor
- CVE-2024-25197Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a NULL pointer dereference via the isCu26Monitor
- CVE-2024-25196Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a buffer overflow via the nav2_controll13Monitor
Remediation
Which version to upgrade to
Fix versions compiled from the vendor, package registries and Microsoft. Verify the vendor's note before upgrading.
No fix version is recorded for this entry. Check the references for vendor advisories.
Exploit status
No known public exploit
No public exploit has been observed yet. That doesn't mean you're safe, only that the bar is a little higher.
Research context
For pentesters and researchers: attack profile, score disagreement, timeline, patch commits, credits, variant and chain candidates, bug bounty scope. All derived from existing data; no exploit code.
Timeline
From publication to today: proof of concept, Metasploit module, CISA KEV and fix record. Dates are as reported by the sources.
No dated events beyond publication.
FIRST EPSS daily score; only changes of 0.01 or more are recorded (step chart).
Patch and commit links
Commit, PR and diff links among the references. A starting point for patch-diffing and variant hunting; fixes, not exploits.
Credits
All researchersFinders, reporters and analysts named in the CNA record. Click a name for that researcher’s other records.
No credits in the CNA record.
Variant candidates
Same product, same weakness class, within 18 months. If the patch missed the root cause, the sibling bug is here.
- CVE-2024-251980 days apartInappropriate pointer order of laser_scan_filter_.reset() and tf_listener_.reset() (amcl_node.cpp) in Open Robotics Robotic Operating Sytste36Monitor
Chain candidates
An authentication bypass and a privilege-requiring bug in the same product, published close together: combined they may become an unauthenticated path.
—
Bug bounty scope
No known public program.
Source: bounty-targets-data (public HackerOne, Bugcrowd, Intigriti, YesWeHack listings).
Technical details
Attack conditions
- Someone on the same network segment can trigger it.
- No account or password is required.
- No user action is required.
- No special conditions are required; it is repeatable.
If successful
- Confidentiality
- none
- Integrity
- high · data or configuration can be modified
- Availability
- high · the service can be disrupted
- Attack vector
- Adjacent
- Attack complexity
- Low
- Privileges required
- None
- User interaction
- None
- Scope
- Unchanged
- Confidentiality impact
- None
- Integrity impact
- High
- Availability impact
- High
Weakness class (CWE)
CWE-416 · Use After FreeCVSS vector
CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H
nvd-secondary
Root cause
After a memory region is freed, another reference pointing to it is still used. By then, the same region may have been allocated for different data.
The bug in code
The whole CWE-416 classA representative example of this vulnerability class. Not the vendor's source code; it shows the faulty pattern and its fix.
Vulnerable
free(dev->buf);/* ... another thread is still running ... */process(dev->buf);Fixed
lock(&dev->lock);free(dev->buf);dev->buf = NULL;unlock(&dev->lock);Attack context
MITRE CAPEC attack patterns and ATT&CK techniques for this weakness class (CWE). A starting point for detection rules and threat hunting.
MITRE has no CAPEC/ATT&CK mapping for this CWE.
Change log
No changes recorded on tracked fields yet. Score, KEV, exploit maturity and fix status changes appear here.
References
Show all references (1 more)Show less
Vendor advisories and official records. Exploit/PoC links are deliberately left out.