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.

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.

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.

Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a NULL pointer dereference via the isCurrent() function at /src/layered_costmap.cpp.

Open Robotics Robotic Operating Sytstem 2 (ROS2) and Nav2 humble versions were discovered to contain a buffer overflow via the nav2_controller process. This vulnerability is triggerd via sending a crafted .yaml file.