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.

Attack Vector Network

Attack Complexity Low

Privileges Required None

Attack Requirements None

User Interaction None

Vulnerable System Confidentiality Impact High

Vulnerable System Integrity Impact High

Vulnerable System Availability Impact High

Subsequent System Confidentiality Impact None

Subsequent System Integrity Impact None

Subsequent System Availability Impact None

No CVSS v3.1

No CVSS v3.0

No CVSS v2

This CVE is not in the KEV list.

The EPSS score is 0.0008.

Exploitation poc

Automatable yes

Technical Impact total

Default status is the baseline for the product, each version can override it (e.g. patched versions marked unaffected).

Vendor Product Default status Versions
ros-navigation navigation2 affected
Version Status Constraints
<= 1.3.11 affected —

No data.

No data.

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Vendors Products
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Navigation2 Subscribe

Project Subscriptions

Vendors Products
Ros-navigation Subscribe
Navigation2 Subscribe
Advisories

No advisories yet.

Fixes

Solution

No solution given by the vendor.

Workaround

No workaround given by the vendor.

References
Link Providers
https://github.com/ros-navigation/navigation2/commit/d09ea82477ce9234678a6febf6890235e0a7ce12 cve-icon cve-icon
https://github.com/ros-navigation/navigation2/releases/tag/1.3.11 cve-icon cve-icon
https://github.com/ros-navigation/navigation2/security/advisories/GHSA-mgj5-g2p6-gc5x cve-icon cve-icon cve-icon
History

Fri, 13 Feb 2026 21:45:00 +0000

Type Values Removed Values Added
First Time appeared Ros-navigation
Ros-navigation navigation2
Vendors & Products Ros-navigation
Ros-navigation navigation2

Fri, 13 Feb 2026 18:15:00 +0000

Type Values Removed Values Added
Metrics ssvc

{'options': {'Automatable': 'yes', 'Exploitation': 'poc', 'Technical Impact': 'total'}, 'version': '2.0.3'}

Thu, 12 Feb 2026 21:00:00 +0000

Type Values Removed Values Added
Description 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.
Title Critical Heap Out-of-bounds Access in `pf_cluster_stats()` via Malicious /initialpose Covariance -- Potential Remote Code Execution
Weaknesses CWE-122
CWE-787
References
Metrics cvssV4_0

{'score': 9.3, 'vector': 'CVSS:4.0/AV:N/AC:L/AT:N/PR:N/UI:N/VC:H/VI:H/VA:H/SC:N/SI:N/SA:N'}

Projects

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cve-icon MITRE

Status: PUBLISHED

Assigner: GitHub_M

Published:

Updated: 2026-02-13T17:14:40.661Z

Reserved: 2026-02-09T21:36:29.553Z

Link: CVE-2026-26011

cve-icon Vulnrichment

Updated: 2026-02-13T17:14:18.790Z

cve-icon NVD

Status : Awaiting Analysis

Published: 2026-02-12T21:16:03.340

Modified: 2026-02-13T18:16:19.943

Link: CVE-2026-26011

cve-icon Redhat

No data.

cve-icon OpenCVE Enrichment

Updated: 2026-02-13T21:29:23Z

Weaknesses