{
  "affected": [
    {
      "database_specific": {
        "unresolved_ranges": [
          {
            "events": [
              {
                "introduced": "0"
              },
              {
                "last_affected": "2-humble"
              }
            ]
          }
        ]
      },
      "ranges": [
        {
          "database_specific": {
            "versions": [
              {
                "introduced": "1.1.0"
              },
              {
                "last_affected": "1.1.17"
              }
            ]
          },
          "events": [
            {
              "introduced": "f1d31677121087be3899951a8568ac82e3c76299"
            },
            {
              "last_affected": "0f8fda36ca1b84a840ad9b72a6c71776eefa6790"
            }
          ],
          "repo": "https://github.com/ros-navigation/navigation2",
          "type": "GIT"
        }
      ]
    }
  ],
  "details": "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.",
  "id": "CVE-2024-25198",
  "modified": "2026-04-01T23:09:39.774054161Z",
  "published": "2024-02-20T14:15:09.260Z",
  "references": [
    {
      "type": "WEB",
      "url": "https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344"
    },
    {
      "type": "FIX",
      "url": "https://github.com/ros-planning/navigation2/pull/4070"
    },
    {
      "type": "FIX",
      "url": "https://github.com/ros-planning/navigation2/pull/4068"
    }
  ],
  "severity": [
    {
      "score": "CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:N/I:H/A:H",
      "type": "CVSS_V3"
    }
  ]
}