CVE-2024-30962Public exploit

Code execution via malformed map dimensions

Published Dec 5, 2024 · Updated Jan 9, 2025

Heap buffer overflow in Nav2 AMCL on ROS 2 Humble allows local users to execute code by publishing a malformed OccupancyGrid message. AmclNode::convertMap uses width times height as its loop bound and indexes map_msg.data without checking that the vector contains that many cells. Access requires permission to publish to the map topic; the proof demonstrates a nav2_amcl crash, while the CVE record attributes arbitrary code execution to local access.

CVSS severity7.8
High
EPSS probability0.29%
Next 30 days · Sep 16, 2026
Known exploitationUnconfirmed
Based on sourced intelligence
Hinoki checkNot available
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Summary

What happened

Heap buffer overflow in Nav2 AMCL on ROS 2 Humble allows local users to execute code by publishing a malformed OccupancyGrid message. AmclNode::convertMap uses width times height as its loop bound and indexes map_msg.data without checking that the vector contains that many cells. Access requires permission to publish to the map topic; the proof demonstrates a nav2_amcl crash, while the CVE record attributes arbitrary code execution to local access.

The record

CVE
CVE-2024-30962
Published
Dec 5, 2024
Updated
Jan 9, 2025
Vendor
Open Source Robotics Foundation
Product
ROS 2
Classifications
CWE-120, CWE-94
Attack vector
local
Privileges
authenticated

Timeline

How it unfolded

  1. Dec 5, 2024CVE publishedPublication date reported by the CVE source.
  2. Jan 9, 2025Record updatedLatest update available in the CVE record.

Exploitability

Present is not the same as exploitable

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Is a vulnerable build present?

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  1. Affected versionversion=0 <=*

What conditions does exploitation require?

Attack vectorlocal
Required privilegesauthenticated

What is affected?

Open Source Robotics Foundation · ROS 2version=0 <=*
Open Source Robotics Foundation · Nav2version=0 <=*

Published CVSS scores

7.8CISA-ADPCVSS:3.1/AV:L/AC:L/PR:L/UI:N/S:U/C:H/I:H/A:H

CVSS describes severity. EPSS estimates exploitation probability.

Attacks

What attackers are doing with it

Daily unique IPs observed by Shadowserver honeypots for known exploited vulnerabilities (KEVs). Missing observations do not establish an absence of attacks.

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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)
Vectorlocal
Privilegesauthenticated
Known exploitationUnconfirmed
Public exploitPublished

Weakness, pattern, technique

CWE-120Buffer Copy without Checking Size of Input ('Classic Buffer Overflow')
CWE-94Improper Control of Generation of Code ('Code Injection')

Public exploit references

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Technologies

Your stack

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Your stack

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