{
    "CVE_data_meta": {
        "ASSIGNER": "cve@mitre.org",
        "ID": "CVE-2024-25199",
        "STATE": "PUBLIC"
    },
    "affects": {
        "vendor": {
            "vendor_data": [
                {
                    "product": {
                        "product_data": [
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                                "product_name": "n/a",
                                "version": {
                                    "version_data": [
                                        {
                                            "version_value": "n/a"
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                    "vendor_name": "n/a"
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    "data_format": "MITRE",
    "data_type": "CVE",
    "data_version": "4.0",
    "description": {
        "description_data": [
            {
                "lang": "eng",
                "value": "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."
            }
        ]
    },
    "problemtype": {
        "problemtype_data": [
            {
                "description": [
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                        "value": "n/a"
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    "references": {
        "reference_data": [
            {
                "url": "https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344",
                "refsource": "MISC",
                "name": "https://github.com/ros-planning/navigation2/blob/main/nav2_amcl/src/amcl_node.cpp#L331-L344"
            },
            {
                "url": "https://github.com/ros-planning/navigation2/pull/4078",
                "refsource": "MISC",
                "name": "https://github.com/ros-planning/navigation2/pull/4078"
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            {
                "url": "https://github.com/ros-planning/navigation2/pull/4079",
                "refsource": "MISC",
                "name": "https://github.com/ros-planning/navigation2/pull/4079"
            }
        ]
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}