CVE-2024-37861
📋 TL;DR
A buffer overflow vulnerability in ROS2 Nav2's AMCL process allows remote code execution when processing malicious YAML files. This affects ROS2 Humble distributions with Nav2 navigation stack. Systems using AMCL for robot localization are vulnerable.
💻 Affected Systems
- ROS2 Navigation2 (Nav2)
- ROS2 AMCL
⚠️ Manual Verification Required
This CVE does not have specific version information in our database, so automatic vulnerability detection cannot determine if your system is affected.
Why? The CVE database entry doesn't specify which versions are vulnerable (no version ranges provided by the vendor/NVD).
🔒 Custom verification scripts are available for registered users. Sign up free to download automated test scripts.
- Review the CVE details at NVD
- Check vendor security advisories for your specific version
- Test if the vulnerability is exploitable in your environment
- Consider updating to the latest version as a precaution
⚠️ Risk & Real-World Impact
Worst Case
Full system compromise with arbitrary code execution as the nav2_amcl process user, potentially leading to robot control takeover or lateral movement in robotic networks.
Likely Case
Remote code execution leading to service disruption, data exfiltration, or privilege escalation on affected robotic systems.
If Mitigated
Denial of service through process crashes if exploit fails or is detected by security controls.
🎯 Exploit Status
Exploitation requires sending crafted YAML file to AMCL process. Public GitHub issues demonstrate the vulnerability and potential exploitation vectors.
🛠️ Fix & Mitigation
✅ Official Fix
Patch Version: Check latest Nav2 releases and ROS2 Humble updates
Vendor Advisory: https://github.com/ros-navigation/navigation2/security/advisories
Restart Required: Yes
Instructions:
1. Update ROS2 Humble distribution: sudo apt update && sudo apt upgrade ros-humble-navigation2
2. Update Nav2 from source if needed: git pull origin humble
3. Restart all Nav2 and AMCL processes
4. Verify no custom YAML parsers are in use
🔧 Temporary Workarounds
Disable AMCL YAML processing
linuxDisable or restrict YAML file processing in AMCL configuration
# In AMCL launch/config files, set use_yaml_parsing: false
# Or restrict YAML sources to trusted locations only
Network segmentation
linuxIsolate AMCL services from untrusted networks
# Use firewall rules: sudo ufw deny from any to port 11311
# Or: sudo iptables -A INPUT -p tcp --dport 11311 -j DROP
🧯 If You Can't Patch
- Implement strict input validation for all YAML files processed by AMCL
- Run AMCL with minimal privileges using user namespace or container isolation
🔍 How to Verify
Check if Vulnerable:
Check if running ROS2 Humble with Nav2 AMCL active and version predates security patches. Review system logs for AMCL YAML processing errors.Check Version:
rosversion nav2_amcl && dpkg -l | grep ros-humble-navigation2Verify Fix Applied:
Verify updated package versions: dpkg -l | grep ros-humble-navigation2. Test with known safe YAML files to ensure AMCL functions normally.📡 Detection & Monitoring
Log Indicators:
- AMCL process crashes
- YAML parsing errors in ROS logs
- Unusual memory allocation patterns in /var/log/syslog
Network Indicators:
- Unusual YAML file transfers to AMCL service ports
- Traffic to AMCL default port 11311 from unexpected sources
SIEM Query:
process_name:"nav2_amcl" AND (event_type:crash OR memory_violation OR yaml_parse_error)