CVE-2023-51204 in ROS2 Foxy Fitzroy
Summary
by MITRE • 01/31/2024
Insecure deserialization in ROS2 Foxy Fitzroy ROS_VERSION=2 and ROS_PYTHON_VERSION=3 allows attackers to execute arbitrary code via a crafted input.
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Analysis
by VulDB Data Team • 05/31/2026
Insecure deserialization vulnerabilities in ROS2 Foxy Fitzroy represent a critical security risk that can lead to arbitrary code execution through crafted input payloads. This vulnerability affects the Robot Operating System version 2 framework where ROS_VERSION=2 and ROS_PYTHON_VERSION=3 are utilized. The flaw stems from the improper handling of serialized data structures during the deserialization process, creating an attack surface where maliciously constructed input can be interpreted and executed by the system. The vulnerability is particularly concerning in robotics and autonomous systems environments where ROS2 is commonly deployed for controlling robotic platforms and autonomous vehicles.
The technical implementation of this vulnerability occurs when ROS2 applications process untrusted data through deserialization mechanisms without proper validation or sanitization. When a malicious actor crafts specific input data that appears to be legitimate serialized objects, the system's deserialization logic interprets this data as executable code rather than benign input. This process typically involves the use of Python's pickle module or similar serialization libraries that can execute arbitrary code during the deserialization phase. The vulnerability is classified under CWE-502 which specifically addresses deserialization of untrusted data, making it a well-documented and dangerous class of security flaws. Attackers can leverage this weakness to inject malicious payloads that execute with the privileges of the ROS2 application process, potentially compromising entire robotic systems.
The operational impact of this vulnerability extends beyond simple code execution to encompass complete system compromise in robotics environments. In autonomous vehicle systems, industrial robots, or robotic surgery equipment, unauthorized code execution can lead to physical harm, data breaches, or system failures. The attack surface is particularly broad since ROS2 is designed for distributed systems where multiple nodes communicate through serialized messages, making it difficult to isolate and protect against malicious input. This vulnerability aligns with ATT&CK technique T1059.007 which covers scripting languages and T1203 which involves exploitation of remote services, demonstrating how the flaw can be leveraged in various attack scenarios. The risk is amplified in environments where ROS2 nodes communicate over networks without proper input validation, creating multiple potential entry points for attackers.
Mitigation strategies for this vulnerability require comprehensive approaches that address both immediate protection and long-term system hardening. Organizations should implement strict input validation and sanitization protocols for all data received by ROS2 nodes, particularly when processing messages from external sources. The use of safe serialization formats such as JSON or XML instead of binary serialization protocols like pickle should be prioritized where possible. Additionally, implementing proper access controls and network segmentation can limit the potential impact of successful exploitation attempts. Regular security updates and patches should be applied to ROS2 installations, with particular attention to versions that have addressed known deserialization vulnerabilities. System administrators should also consider implementing runtime monitoring and anomaly detection to identify potential exploitation attempts, as the vulnerability can be detected through unusual patterns of code execution or memory usage in ROS2 processes.