VulnerabilityPublished 20 Feb 2024Updated 1 Aug 2024

CVE-2024-25198: Use After Free

Source CVE Database V5

Not known to be exploited · CVSS 9.1 Critical.

Data as of 26 Oct 2026, 11:07 UTC

CVSS 3.1 base score

9.1Critical

How severe the flaw is on the 0–10 CVSS scale.

EPSS: 0.7% chance of exploitation in 30 days – higher than 53% of CVEsExploit Prediction Scoring System: the likelihood attackers will use this flaw soon.

CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H

Attack Vector: Network
Attack Complexity: Low
Privileges Required: None
User Interaction: None
Scope: Unchanged
Confidentiality: None
Integrity: High
Availability: High

Bold values are the worst case: easiest to exploit or largest impact.

Attack Vector: Network: The vulnerable component is bound to the network stack and the set of possible attackers extends beyond the other options listed, up to and including the entire Internet. Such a vulnerability is often termed 'remotely exploitable' and can be thought of as an attack being exploitable at the protocol level one or more network hops away (e.g., across one or more routers).
Attack Complexity: Low: Specialized access conditions or extenuating circumstances do not exist. An attacker can expect repeatable success against the vulnerable component.
Privileges Required: None: The attacker is unauthorized prior to attack, and therefore does not require any access to settings or files to carry out an attack.
User Interaction: None: The vulnerable system can be exploited without any interaction from any user.
Scope: Unchanged: An exploited vulnerability can only affect resources managed by the same security authority. In this case, the vulnerable component and the impacted component are either the same, or both are managed by the same security authority.
Confidentiality: None: There is no loss of confidentiality within the impacted component.
Integrity: High: There is a total loss of integrity, or a complete loss of protection. For example, the attacker is able to modify any/all files protected by the impacted component. Alternatively, only some files can be modified, but malicious modification would present a direct, serious consequence to the impacted component.
Availability: High: There is total loss of availability, resulting in the attacker being able to fully deny access to resources in the impacted component; this loss is either sustained (while the attacker continues to deliver the attack) or persistent (the condition persists even after the attack has completed). Alternatively, the attacker has the ability to deny some availability, but the loss of availability presents a direct, serious consequence to the impacted component (e.g., the attacker cannot disrupt existing connections, but can prevent new connections; the attacker can repeatedly exploit a vulnerability that, in each instance of a successful attack, leaks a only small amount of memory, but after repeated exploitation causes a service to become completely unavailable).

Definitions: FIRST CVSS v3.1 specification.

Exploitation evidence

Disclosed: evidence found.
CVE published 20 Feb 2024
Detectable: no evidence on record.
No public nuclei template indexed
Weaponised: no evidence on record.
No public exploit code indexed in Metasploit or Exploit-DB
Exploited in the wildExploited: no evidence on record.
Not in CISA KEV and no source reports exploitation
Observed by OffSeq MirageSeen by Mirage: no evidence on record.
No attack traffic recorded by OffSeq Mirage sensors

A missing step is not evidence of safety. Sources: cve.org (opens in a new tab), the Metasploit, Exploit-DB and nuclei-templates index as of 26 Oct 2026.

Disclosed: The CVE record is public on cve.org. Its publication is t = 0.
Detectable: A public nuclei template can find exposed instances, for defenders and attackers alike.
Weaponised: Public exploit code exists in Metasploit or Exploit-DB, or CISA SSVC or the CVSS exploit maturity reports a public proof of concept.
Exploited in the wild: CISA KEV lists it, CISA SSVC rates exploitation active, or a source reports attacks.
Observed by OffSeq Mirage: OffSeq Mirage honeypot sensors recorded attack traffic for this CVE, or found exposed hosts without attack traffic.

Moments are spaced evenly, not to scale; a dashed line marks a gap of six months or more. Deltas count from t = 0. Sources that give only a date (CISA KEV, Exploit-DB, or a time of exactly 00:00Z) read “same day” rather than hours. Metasploit modules carry the flaw’s disclosure date, not their release date, and nuclei templates carry no date, so both appear above but not on the timeline.

What to do

AI-suggested

To mitigate CVE-2024-25198, organizations should first monitor for official patches or updates from the ROS2 and Nav2 maintainers and apply them promptly once available. In the interim, developers should review and correct the pointer reset order in amcl_node.cpp to prevent use-after-free conditions. Employing memory safety tools such as AddressSanitizer during development and testing can help detect similar issues early. Network-level protections should be enhanced to restrict access to ROS2 nodes, including firewall rules, VPNs, and network segmentation to limit exposure. Implement runtime monitoring and anomaly detection to identify unusual behavior indicative of exploitation attempts. Additionally, consider deploying robotic systems with least privilege principles and isolating critical components to reduce the blast radius of potential attacks. Regular code audits and static analysis focused on memory management are recommended to prevent recurrence of such vulnerabilities.

Description

Inappropriate pointer order of laser_scan_filter_.reset() and tf_listener_.reset() (amcl_node.cpp) in Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions leads to a use-after-free.

Impact

The impact of CVE-2024-25198 is significant for organizations relying on ROS2 and Nav2 for robotic applications. Exploitation can lead to denial of service, causing robotic systems to crash or become unresponsive, which in industrial or critical infrastructure contexts could halt operations and cause safety hazards. More severe exploitation might allow attackers to execute arbitrary code, potentially gaining control over robotic platforms, leading to manipulation of physical processes, data integrity breaches, or safety incidents. Given ROS2's adoption in autonomous vehicles, manufacturing robots, and research institutions, the vulnerability poses a risk to operational continuity, safety, and data integrity. The lack of required privileges or user interaction increases the attack surface, making widespread exploitation plausible if weaponized. Organizations globally that deploy ROS2-based systems in critical or commercial environments face potential operational and reputational damage.

CWE-416Use After Free (opens in a new tab)
Variant weaknessLikelihood of exploit: HighCWE Top 25 (2025): #7
The product reuses or references memory after it has been freed. At some point afterward, the memory may be allocated again and saved in another pointer, while the original pointer references a location somewhere within the new allocation. Any operations using the original pointer are no longer valid because the memory "belongs" to the code that operates on the new pointer.
Architecture and Design · Language Selection
Choose a language that provides automatic memory management.
Implementation · Attack Surface Reduction
When freeing pointers, be sure to set them to NULL once they are freed. However, the utilization of multiple or complex data structures may lower the usefulness of this strategy.
OWASP Cheat Sheets
XML Security (opens in a new tab)
Mass Assignment (opens in a new tab)
OWASP ASVS 4.0.3
V13.3.1 (opens in a new tab)
V5.1.4 (opens in a new tab)
V5.1.3 (opens in a new tab)
From MITRE CWE, MITRE CAPEC and OWASP (Top 10, OpenCRE).

References

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Exploitation evidence

What to do

Description

AI analysisMachine-generated, updated 26 Feb 2026, 10:31 UTC

WeaknessesCWE-416

Technical details

References

Community reviews

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