CVE-2024-25199 in ROS2
Summary
by MITRE • 02/20/2024
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.
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Analysis
by VulDB Data Team • 08/30/2024
The vulnerability identified as CVE-2024-25199 represents a critical use-after-free condition within the navigation stack of ROS2 systems, specifically affecting the Nav2 humble distribution. This flaw manifests in the amcl_node.cpp file where improper pointer management creates a scenario where memory allocated for map_sub_ and map_free(map_) operations occurs in an incorrect sequence. The issue stems from the asynchronous nature of map subscription handling and memory deallocation processes within the AMCL (Adaptive Monte Carlo Localization) node, which forms a core component of the navigation system. When a map subscription is updated or removed, the system's pointer handling logic fails to maintain proper ordering between subscription cleanup and memory deallocation operations.
The technical implementation of this vulnerability involves a race condition between map subscription callbacks and memory deallocation routines. When the system receives a new map subscription or processes a map removal event, the amcl_node.cpp code executes a sequence where map_sub_ is potentially freed before map_free(map_) operations complete, creating a situation where previously freed memory locations may still be accessed by subsequent operations. This improper pointer ordering creates a window of opportunity for attackers to exploit the memory corruption through controlled input or by manipulating the timing of map subscription events. The vulnerability specifically impacts the memory management subsystem where the map data structure undergoes deallocation while still being referenced by other components within the navigation stack.
The operational impact of CVE-2024-25199 extends beyond simple memory corruption, as it creates potential attack vectors for arbitrary code execution within robotic systems running affected ROS2 versions. This vulnerability can be exploited by malicious actors who gain access to the robot's control network or who can inject map data through legitimate communication channels. The use-after-free condition allows for potential information disclosure, system instability, and in severe cases, complete system compromise of autonomous robotic platforms. Organizations deploying Nav2-based navigation systems in production environments face significant risks, particularly in industrial automation, autonomous vehicles, and robotic process automation scenarios where system reliability and security are paramount. The vulnerability affects the core navigation functionality and can result in mission failure, unsafe robot behavior, or unauthorized access to sensitive operational data.
Mitigation strategies for CVE-2024-25199 should focus on immediate code-level fixes within the amcl_node.cpp implementation to ensure proper pointer ordering during map subscription and deallocation operations. System administrators should prioritize updating to patched versions of ROS2 Nav2 humble distribution as soon as available, while implementing network segmentation and access controls to limit potential attack vectors. The fix should enforce proper synchronization between map subscription callbacks and memory deallocation routines, ensuring that all references to map data are properly invalidated before memory is freed. Additionally, organizations should implement runtime monitoring and anomaly detection systems to identify potential exploitation attempts. This vulnerability aligns with CWE-416 which describes use-after-free conditions, and represents a potential ATT&CK technique under T1059 for execution and T1210 for exploitation of remote services. Organizations should also consider implementing memory safety checks and address sanitization tools during development and testing phases to detect similar issues in other components of the robotic software stack.