CVE-2026-26011
CriticalSummary
W wersjach 1.3.11 i wcześniejszych w frameworku i systemie nawigacji ROS 2 (navigation2) występuje krytyczna podatność na zapis poza granicami pamięci w logice klastrowania filtru cząstek Nav2 AMCL. Atakujący może wykorzystać specjalnie skonstruowaną wiadomość geometry_msgs/PoseWithCovarianceStamped, aby wywołać zapis z negatywnym indeksem w pamięci sterty.
Risk Assessment
Podatność ta pozwala na kontrolowane uszkodzenie metadanych fragmentu pamięci sterty, co może prowadzić do dalszych exploitów. Co najmniej zapewnia to niezawodny atak typu denial of service, który przerywa lokalizację i zatrzymuje całą nawigację.
Recommendation
Zaleca się aktualizację do wersji nowszej niż 1.3.11, aby usunąć tę podatność. Dodatkowo, należy monitorować i ograniczać dostęp do tematu /initialpose w celu zminimalizowania ryzyka ataku.
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Original NVD description (English source)
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.
Vulnerability data from NVD (NIST) · CISA KEV · EPSS