CVE-2024-30963Public exploit

Local code execution via oversized AMCL z_rand parameter

Published Dec 5, 2024 · Updated Dec 6, 2024

Heap buffer overflow in Nav2 AMCL on ROS 2 Humble allows local users to execute arbitrary code through a crafted parameter file. The nav2_amcl particle-filter path accepts an extremely large z_rand value without a bound and reads past a heap allocation in pf_update_resample. The demonstrated trigger requires local control of navigation parameters and aborts AMCL under AddressSanitizer; the CVE record assigns arbitrary code execution.

CVSS severity7.8
High
EPSS probability0.23%
Next 30 days · Sep 16, 2026
Known exploitationUnconfirmed
Based on sourced intelligence
Hinoki checkNot available
Coverage for this vulnerability

See if you're affected

Explore vulnerability checks for your environment with Hinoki.

Book a demo

Summary

What happened

Heap buffer overflow in Nav2 AMCL on ROS 2 Humble allows local users to execute arbitrary code through a crafted parameter file. The nav2_amcl particle-filter path accepts an extremely large z_rand value without a bound and reads past a heap allocation in pf_update_resample. The demonstrated trigger requires local control of navigation parameters and aborts AMCL under AddressSanitizer; the CVE record assigns arbitrary code execution.

The record

CVE
CVE-2024-30963
Published
Dec 5, 2024
Updated
Dec 6, 2024
Vendor
Open Source Robotics Foundation
Product
ROS 2
Classifications
CWE-94, T1203
Attack vector
local
Privileges
authenticated

Timeline

How it unfolded

  1. Dec 5, 2024CVE publishedPublication date reported by the CVE source.
  2. Dec 6, 2024Record updatedLatest update available in the CVE record.

Exploitability

Present is not the same as exploitable

Compare your product and version with the public record. A matching version still requires validation against your environment.

Is a vulnerable build present?

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

  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.

Daily unique IPsNo honeypot observations are available for this CVE in the selected window.

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-94Improper Control of Generation of Code ('Code Injection')
T1203Exploitation for Client Execution

Public exploit references

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

Technologies

Your stack

See the directory against your own environment.

Your stack

Check the software in your environment

Book a demo to see how Hinoki identifies affected software and validates exploitability in your environment.

Book a demo