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 AMCLs 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.
Weakness
A heap overflow condition is a buffer overflow, where the buffer that can be overwritten is allocated in the heap portion of memory, generally meaning that the buffer was allocated using a routine such as malloc().
Potential Mitigations
- Use automatic buffer overflow detection mechanisms that are offered by certain compilers or compiler extensions. Examples include: the Microsoft Visual Studio /GS flag, Fedora/Red Hat FORTIFY_SOURCE GCC flag, StackGuard, and ProPolice, which provide various mechanisms including canary-based detection and range/index checking.
- D3-SFCV (Stack Frame Canary Validation) from D3FEND [REF-1334] discusses canary-based detection in detail.
- Run or compile the software using features or extensions that randomly arrange the positions of a program’s executable and libraries in memory. Because this makes the addresses unpredictable, it can prevent an attacker from reliably jumping to exploitable code.
- Examples include Address Space Layout Randomization (ASLR) [REF-58] [REF-60] and Position-Independent Executables (PIE) [REF-64]. Imported modules may be similarly realigned if their default memory addresses conflict with other modules, in a process known as “rebasing” (for Windows) and “prelinking” (for Linux) [REF-1332] using randomly generated addresses. ASLR for libraries cannot be used in conjunction with prelink since it would require relocating the libraries at run-time, defeating the whole purpose of prelinking.
- For more information on these techniques see D3-SAOR (Segment Address Offset Randomization) from D3FEND [REF-1335].
Related Attack Patterns
References
- https://github.com/ros-navigation/navigation2/commit/d09ea82477ce9234678a6febf6890235e0a7ce12
- https://github.com/ros-navigation/navigation2/releases/tag/1.3.11
- https://github.com/ros-navigation/navigation2/security/advisories/GHSA-mgj5-g2p6-gc5x
- https://github.com/ros-navigation/navigation2/security/advisories/GHSA-mgj5-g2p6-gc5x