CVE-2024-25199Public exploit

Memory corruption via map subscriber shutdown race

Published Feb 20, 2024 · Updated Aug 29, 2024

Use-after-free in Nav2 AMCL in ROS 2 Humble allows remote attackers to corrupt memory by racing map delivery with shutdown. During cleanup, AmclNode frees map_ before resetting map_sub_, so a late OccupancyGrid callback reaches createFreeSpaceVector() and reads freed map memory. An attacker on the same ROS 2 DDS network must keep publishing map messages as the AMCL node shuts down; the demonstrated consequence is an AMCL process crash.

CVSS severity8.1
High
EPSS probability0.58%
Next 30 days · Sep 16, 2026
Known exploitationUnconfirmed
Based on sourced intelligence
Hinoki checkNot available
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Summary

What happened

Use-after-free in Nav2 AMCL in ROS 2 Humble allows remote attackers to corrupt memory by racing map delivery with shutdown. During cleanup, AmclNode frees map_ before resetting map_sub_, so a late OccupancyGrid callback reaches createFreeSpaceVector() and reads freed map memory. An attacker on the same ROS 2 DDS network must keep publishing map messages as the AMCL node shuts down; the demonstrated consequence is an AMCL process crash.

The record

CVE
CVE-2024-25199
Published
Feb 20, 2024
Updated
Aug 29, 2024
Vendor
Open Source Robotics Foundation
Product
Robot Operating System (ROS)
Classifications
CWE-416, T1499
Attack vector
adjacent
Privileges
unauthenticated

Timeline

How it unfolded

  1. Feb 20, 2024CVE publishedPublication date reported by the CVE source.
  2. Aug 29, 2024Record updatedLatest update available in the CVE record.

Exploitability

Present is not the same as exploitable

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Is a vulnerable build present?

Compare these published version ranges with your installed build and any vendor patches.

  1. Affected versionversion=2

What conditions does exploitation require?

Attack vectoradjacent
Required privilegesunauthenticated

What is affected?

Open Source Robotics Foundation · Robot Operating System (ROS)version=2

Published CVSS scores

8.1CISA-ADPCVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H

CVSS describes severity. EPSS estimates exploitation probability.

Attacks

What attackers are doing with it

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No observations available

Sep 10, 2026Sep 16, 2026
Latest reporting daySep 16, 2026
Latest daily unique IPsUnavailable
Prior 30-day averageUnavailable
SourceShadowserver honeypots (KEV)
Vectoradjacent
Privilegesunauthenticated
Known exploitationUnconfirmed
Public exploitPublished

Weakness, pattern, technique

CWE-416Use After Free
T1499Endpoint Denial of Service

Public exploit references

Labels summarize the accepted research assessment. They do not indicate a test against your environment.

Technologies

Your stack

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Your stack

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