{"id":"CVE-2024-25199","url":"https://www.cyber-defence.io/tools/cve/CVE-2024-25199","generatedAt":"2026-10-28T01:49:27.020Z","title":"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.","description":"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":"2024-02-20T14:15:09.000Z","lastModified":"2026-06-17T07:15:41.000Z","status":"Analyzed","sourceIdentifier":"cve@mitre.org","cvss":{"version":"3.1","score":8.1,"severity":"HIGH","vector":"CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H"},"cwe":["CWE-416"],"affected":["opennav/nav2","openrobotics/robot operating system"],"epss":{"score":0.00576,"percentile":0.47215,"date":"2026-10-26","history":[]},"kev":{"listed":false},"exploits":{"count":0,"verified":false,"firstPublished":null,"source":"Exploit-DB (https://gitlab.com/exploit-database/exploitdb)","entries":[]},"verdict":{"level":"high","text":"High impact if exploited, but EPSS currently rates exploitation as unlikely (0.58%). Schedule it in the normal patch cycle and watch for a rise in EPSS or a public exploit."},"changes":[],"references":[{"url":"https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344","tags":["Product"],"source":"cve@mitre.org"},{"url":"https://github.com/ros-planning/navigation2/pull/4078","tags":["Exploit","Issue Tracking","Patch"],"source":"cve@mitre.org"},{"url":"https://github.com/ros-planning/navigation2/pull/4079","tags":["Issue Tracking","Patch"],"source":"cve@mitre.org"},{"url":"https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344","tags":["Product"],"source":"af854a3a-2127-422b-91ae-364da2661108"},{"url":"https://github.com/ros-planning/navigation2/pull/4078","tags":["Exploit","Issue Tracking","Patch"],"source":"af854a3a-2127-422b-91ae-364da2661108"},{"url":"https://github.com/ros-planning/navigation2/pull/4079","tags":["Issue Tracking","Patch"],"source":"af854a3a-2127-422b-91ae-364da2661108"}],"sources":{"nvd":"https://nvd.nist.gov/vuln/detail/CVE-2024-25199","epss":"https://www.first.org/epss/","kev":"https://www.cisa.gov/known-exploited-vulnerabilities-catalog","exploitdb":"https://www.exploit-db.com/"},"licence":"CC BY 4.0 — link back to the CVE Explorer if you publish the results; upstream data remains subject to its own terms."}