Nav2
CVE-2026-26011
CRITICAL
Attack ChainAIDerived
Hypothetical attack flow derived from CVE metadata – not a confirmed exploit chain
-
AccessPublish crafted PoseWithCovarianceStamped to /initialpose
-
ExploitTrigger negative array index in clustering logic
-
ExecutionWrite to heap memory before buffer
-
ImpactCorrupt heap metadata and execute code
Vulnerability Assessment
| Weakness |
CWE
OWASP Top 10:2025
A06:2021 - Vulnerable and Outdated Components
ASVS 5.0
V15 - Secure Coding and Architecture Heap buffer bounds checking
MITRE ATT&CK
1 technique across 1 tactic: Execution The technique list with ATT&CK links and the kill-chain view is part of the Basic plan and up. |
| Exploitation Conditions | Nav2 AMCL particle filter with Release build (assertions disabled) running on same ROS 2 DDS domain as attacker; /initialpose topic accessible without authentication; covariance matrix with extreme values (e.g., NaN or very large numbers) causing negative cluster index calculation. |
| Impact | CVSS 9.8. Robotics software — heap corruption in navigation could cause unsafe robot behavior. |
| Exploit ScenarioDerived | Crafted localization data triggers heap overflow in the robot's navigation system, potentially causing erratic movement or enabling code execution. |
Get an e-mail when this CVE is exploited, patched or re-scored. Free account.
Alert meAnalysisAIv1 – Mar 12, 2026
Heap out-of-bounds write in Nav2 AMCL (Adaptive Monte Carlo Localization) in ROS 2 Navigation Framework 1.3.11 and earlier. Robot navigation vulnerability. PoC and patch available.
Earlier versions of this analysis (1)
Heap overflow in ROS 2 Navigation robot localization.
RemediationAI
Update ROS 2 Navigation framework.
Affects your stack
Find out whether the stacks and servers you run are on an affected version.
Checking this CVE against your own stacks and servers is part of the Basic plan and up.
Technical ContextAI · show details
CWE-122 heap OOB write in AMCL's gdi_surface_bits() during processing of SURFACE_BITS_COMMAND messages.
Know when Nav2 gets its next vulnerability
- Watch products and get an email when something new is published
- Check this CVE against your own stack and servers
- Exploit and PoC references, threat intelligence from 22 sources
No credit card · 7-day full trial
Severity by source
AV:N/AC:L/PR:N/UI:N/S:U/C:H/I:H/A:H
Primary rating from GitHub Advisory · only source for this CVE.
CVSS VectorGitHub Advisory
Lifecycle Timeline
3DescriptionGitHub Advisory
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.
Executive ViewAI
A critical heap overflow vulnerability in Nav2 AMCL (Adaptive Monte Carlo Localization) affects ROS 2-based autonomous systems and robotics platforms running version 1.3.11 or earlier. Organizations deploying navigation-dependent robots or autonomous vehicles face potential remote code execution, system compromise, and operational disruption if exploited.
Apply vendor patch. If immediate patching is not feasible: (1) Restrict network access to Nav2 systems from untrusted sources using network segmentation and firewall rules; (2) Disable AMCL particle filter clustering feature if non-critical to operations; (3) Implement input validation and sandboxing for navigation stack components; (4) Enable enhanced logging and intrusion detection for ROS 2 middleware communications.
Threat Intelligence Overview
NVD
CVE.org
EPSS
GitHub
How this decision was reached
The engine reads each signal below and applies a fixed list of rules from top to bottom. The first rule that matches sets the recommended action – like a statement, every line is shown.
What every action level means
SSVC AssessmentENISA
Priority Score
Attack Technique
Denial of Service attacks render applications or systems unavailable by overwhelming resources or triggering failure conditions.
Affected Products (CPE)GitHub Advisory
Inappropriate pointer order of laser_scan_filter_.reset() and tf_listener_.reset() (amcl_node.cpp) in Open Robotics Robo
Inappropriate pointer order of map_sub_ and map_free(map_) (amcl_node.cpp) in Open Robotics Robotic Operating Sytstem 2
Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a NULL pointer dere
Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a buffer overflow v
Exploit-DB