{"cve":"CVE-2024-25199","nvd":{"published":"2024-02-20T14:15:09.300","modified":"2026-06-17T07:15:41.267","status":"Analyzed","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.","cvss_v4":null,"cvss_v3":{"version":"3.1","vector":"CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H","score":8.1},"cwes":["CWE-416"],"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","https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344","https://github.com/ros-planning/navigation2/pull/4078"],"products":["opennav:nav2","openrobotics:robot_operating_system"],"source":"nvd","synced_at":"2026-10-19T21:45:59.823092188+00:00"},"epss":{"cve":"CVE-2024-25199","score":0.00576,"percentile":0.47502,"date":"2026-10-31"},"kev":null,"osv":[],"attribution":["This product uses the NVD API but is not endorsed or certified by the NVD.","EPSS scores: FIRST Exploit Prediction Scoring System, https://www.first.org/epss","Known exploited vulnerabilities: CISA Known Exploited Vulnerabilities Catalog, https://www.cisa.gov/known-exploited-vulnerabilities-catalog","Package advisories: OSV (https://osv.dev), from the GitHub Advisory Database, PyPA, Go, RustSec and other ecosystem databases, under CC-BY 4.0 or CC0","CVE records: the CVE Program's CVE List (https://www.cve.org), under its terms of use (https://www.cve.org/Legal/TermsOfUse). CVE is a registered trademark of The MITRE Corporation; this product is not affiliated with the CVE Program."]}