CVE-2024-38921Public exploitNetwork attack vector

Remote crash via stale laser-scan subscriber

Published Dec 6, 2024 · Updated Dec 11, 2024

Use-after-free in Nav2 AMCL for ROS 2 Humble and Iron allows remote attackers to crash localization by changing z_rand. The dynamic-parameter callback reinitializes message filters after freeing the laser-scan subscriber, while the still-live filter dereferences that stale subscriber. Network access to the ROS 2 parameter service is sufficient; the demonstrated consequence is termination of nav2_amcl and loss of localization.

CVSS severity9.8
Critical
EPSS probability0.60%
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 for ROS 2 Humble and Iron allows remote attackers to crash localization by changing z_rand. The dynamic-parameter callback reinitializes message filters after freeing the laser-scan subscriber, while the still-live filter dereferences that stale subscriber. Network access to the ROS 2 parameter service is sufficient; the demonstrated consequence is termination of nav2_amcl and loss of localization.

The record

CVE
CVE-2024-38921
Published
Dec 6, 2024
Updated
Dec 11, 2024
Vendor
Unknown vendor
Product
Unknown product
Classifications
CWE-416, T1499.004
Attack vector
network
Privileges
unauthenticated

Timeline

How it unfolded

  1. Dec 6, 2024CVE publishedPublication date reported by the CVE source.
  2. Dec 11, 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?

Affected buildAffected product and version details are unavailable.

What conditions does exploitation require?

Attack vectornetwork
Required privilegesunauthenticated

What is affected?

Affected products and versions are unavailable in this record.

Published CVSS scores

9.8NVDCVSS:3.1/AV:N/AC:L/PR:N/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)
Vectornetwork
Privilegesunauthenticated
Known exploitationUnconfirmed
Public exploitPublished

Weakness, pattern, technique

CWE-416Use After Free
T1499.004Application or System Exploitation

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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