CVE-2024-25199: Inappropriate pointer order of map_sub_ and map_free(map_) (amcl_node.cpp) in Open Robotics Robotic Operating

This month

HIGH 8.1UPGRADEMITIGATE

CVE-2024-25199 is a high-severity flaw (CVSS 8.1) affecting nav2, robot operating system. Below: why it ranks where it does, which versions are affected, what to do, and the exact commands.

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.

Why this priority

High severity
Public exploit reference

A fixed release or distro patch exists.

Risk facts

CVSS score	8.1 (High)
Attack vector	Adjacent network
Attack complexity	Low
Privileges needed	None
User interaction	None
EPSS exploit chance	0.6% (top 53%)
CISA exploited list	No
Weakness	CWE-416
Published	2024-02-20
Last modified	2026-06-17

Publisher (CNA): MITRE · Vendor: opennav · openrobotics

Last updated 2026-06-17 · Sources: CVE Program, NVD, CISA KEV, EPSS and vendor advisories · How we score

Am I affected?

Timeline

2024-02-20 14:15 UTCPublished CVE record published
2026-06-17 07:15 UTCUpdated Record last modified

opennav nav2 UPGRADE

Affected: >= 1.1.0 and <= 1.1.17

Fixed in: newer than 1.1.17

Safe to downgrade to: a release before 1.1.0

1. Check installed version

apt-cache policy nav2 || rpm -q nav2 || nav2 --version

2. UPGRADE to newer than 1.1.17 (Debian / Ubuntu)

sudo apt update && sudo apt install --only-upgrade nav2

2. UPGRADE (RHEL / Amazon Linux / Fedora)

sudo dnf upgrade nav2

Note

Distros often backport fixes without changing the version number. Confirm with the distro advisory or changelog.

3. If no update is available yet, DOWNGRADE to a release before 1.1.0 (Debian / Ubuntu)

apt-cache madison nav2 sudo apt install nav2=<VERSION_BEFORE_1.1.0> sudo apt-mark hold nav2

3. If no update is available yet, DOWNGRADE (RHEL / Amazon Linux / Fedora)

dnf --showduplicates list nav2 sudo dnf downgrade nav2-<VERSION_BEFORE_1.1.0> sudo dnf versionlock add nav2

Downgrade risk

Downgrading can break dependent software and may reopen older bugs. Read the distro advisory first and test on a non-production host.

After downgrade

Restart the service, and keep the package held until a fixed release ships.

openrobotics robot operating system MITIGATE

Affected: 2 humble

Fixed in: no fixed release known

Safe to downgrade to: a release before 2

Check your OS release

cat /etc/os-release; uname -r

Debian / Ubuntu

sudo apt update && sudo apt full-upgrade

RHEL / Amazon Linux / Fedora

sudo dnf upgrade --refresh

Windows

Install the latest cumulative update from Windows Update

If no patch exists yet

OS downgrades are not safe. Apply the vendor mitigation from the advisory and restrict exposure.

Verify at the official source NVD · CVE Program · Report a problem with this page
Scores and fixes here are computed automatically from those and other public sources. Confirm with the vendor advisory before changing production systems.

Quick answers

How do I fix CVE-2024-25199?

nav2: upgrade to newer than 1.1.17; robot operating system: mitigate or apply the listed mitigation. Exact commands for each OS are on this page.

Is CVE-2024-25199 being exploited?

CVE-2024-25199 is not on the CISA Known Exploited Vulnerabilities list at the time of the last update. Check again, as this can change.

What does CVE-2024-25199 affect?

CVE-2024-25199 affects nav2, robot operating system. Severity is high (CVSS 8.1). 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.

How urgent is CVE-2024-25199?

Priority 45/100. High severity; Public exploit reference

Related CVEs

CVE-2026-26011 CRITICAL 9.8 UPGRADE navigation2 is a ROS 2 Navigation Framework and System
CVE-2024-25198 CRITICAL 9.1 UPGRADE MITIGATE Inappropriate pointer order of laser_scan_filter_.reset() and tf_listener_.reset() (amcl_node.cpp) in Open Rob
CVE-2024-25197 MEDIUM 6.5 UPGRADE MITIGATE Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a NULL po
CVE-2024-25196 LOW 3.3 UPGRADE MITIGATE Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a buffer

References

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