CVE-2026-26011
In 1.3.11 and earlier, a critical heap out-of-bounds write vulnerability exists in Nav2 AMCL's particle filter clustering logic.
Does this matter?
High impact if exploited, but EPSS currently rates exploitation as unlikely (0.60%). Schedule it in the normal patch cycle and watch for a rise in EPSS or a public exploit.
Description
navigation2 is a ROS 2 Navigation Framework and System. In 1.3.11 and earlier, a critical heap out-of-bounds write vulnerability exists in Nav2 AMCL's particle filter clustering logic. By publishing a single crafted geometry_msgs/PoseWithCovarianceStamped message with extreme covariance values to the /initialpose topic, an unauthenticated attacker on the same ROS 2 DDS domain can trigger a negative index write (set->clusters[-1]) into heap memory preceding the allocated buffer. In Release builds, the sole boundary check (assert) is compiled out, leaving zero runtime protection. This primitive allows controlled corruption of the heap chunk metadata(at least the size of the heap chunk where the set->clusters is in is controllable by the attacker), potentially leading to further exploitation. At minimum, it provides a reliable single-packet denial of service that kills localization and halts all navigation.
- CVSS 4.0
- 9.3 CRITICALCVSS:4.0/AV:N/AC:L/AT:N/PR:N/UI:N/VC:H/VI:H/VA:H/SC:N/SI:N/SA:N/E:X/CR:X/IR:X/AR:X/MAV:X/MAC:X/MAT:X/MPR:X/MUI:X/MVC:X/M
- EPSS
- 0.60% probability · 48th percentile
- Public exploits
- None in Exploit-DB
- CISA KEV
- Not listed
- Weakness
- CWE-122, CWE-787
- Affected
- opennav/nav2
- Source
- security-advisories@github.com
EPSS 0.6% since 26 October 2026; no change recorded yet. Points are recorded when the score first appears and whenever it moves by a percentage point or more.
References
- https://github.com/ros-navigation/navigation2/commit/d09ea82477ce9234678a6febf6890235e0a7ce12Patch
- https://github.com/ros-navigation/navigation2/releases/tag/1.3.11Product
- https://github.com/ros-navigation/navigation2/security/advisories/GHSA-mgj5-g2p6-gc5xExploit, Vendor Advisory
- https://github.com/ros-navigation/navigation2/security/advisories/GHSA-mgj5-g2p6-gc5xExploit, Vendor Advisory
Source: NVD record, EPSS from FIRST.org, KEV from CISA, exploits from Exploit-DB. Refreshed daily. Download this record as JSON.