« Back to list

CVE-2024-42002

Status: Awaiting AnalysisHigh (8.6)—

A code injection vulnerability has been discovered in the Robot Operating System 2 (ROS 2) 'ros2topic' command-line tool, affecting all ROS 2 distributions from Crystal Clemmys up to and including Lyrical Luth and Rolling Ridley. The vulnerability lies in the 'hz' verb, which reports the publishing rate of a topic and accepts a user-provided Python expression via the --filter option. This input is passed directly to the eval() function without sanitization, allowing a local user to craft and execute arbitrary code.

CVSS

Exploitation probability (EPSS)

EPSS (Exploit Prediction Scoring System, FIRST) estimates how likely a vulnerability is to be exploited in the wild within 30 days. It complements CVSS (impact) and CISA KEV (confirmed exploitation).

🎯 ATT&CK techniques

How this vulnerability is exploited and what the attacker gains, in MITRE ATT&CK terms.

Vulnerabilidad de inyección de código (CWE-94/95) en herramienta local ROS 2 que permite eval() sin sanitización. AV:L sin privilegios permite escalada local con ejecución de comandos arbitrarios.

Inferred by our analysis agent from the official description, CVSS vector and CWE, and checked by a supervisor. May contain errors.

🛡️ ATT&CK mitigations that cover these techniques

Execution PreventionThreat Intelligence ProgramRestrict Web-Based ContentPrivileged Account ManagementLimit Software InstallationBehavior Prevention on Endpoint

Affected technologies (1)

⚠ AI-inferred from the description — NVD hasn't analyzed this CVE yet, these aren't verified CPEs.

ROS — Ros2AI

CWEs

References

Raw JSON (NVD)

Show
{
  "id": "CVE-2024-42002",
  "cveTags": [],
  "metrics": {
    "ssvcV203": [
      {
        "source": "134c704f-9b21-4f2e-91b3-4a467353bcc0",
        "ssvcData": {
          "id": "CVE-2024-42002",
          "role": "CISA Coordinator",
          "options": [
            {
              "exploitation": "none"
            },
            {
              "automatable": "no"
            },
            {
              "technicalImpact": "total"
            }
          ],
          "version": "2.0.3",
          "timestamp": "2026-09-30T13:43:08.696167Z"
        }
      }
    ],
    "cvssMetricV31": [
      {
        "type": "Secondary",
        "source": "security@ubuntu.com",
        "cvssData": {
          "scope": "UNCHANGED",
          "version": "3.1",
          "baseScore": 8.4,
          "attackVector": "LOCAL",
          "baseSeverity": "HIGH",
          "vectorString": "CVSS:3.1/AV:L/AC:L/PR:N/UI:N/S:U/C:H/I:H/A:H",
          "integrityImpact": "HIGH",
          "userInteraction": "NONE",
          "attackComplexity": "LOW",
          "availabilityImpact": "HIGH",
          "privilegesRequired": "NONE",
          "confidentialityImpact": "HIGH"
        },
        "impactScore": 5.9,
        "exploitabilityScore": 2.5
      }
    ],
    "cvssMetricV40": [
      {
        "type": "Secondary",
        "source": "security@ubuntu.com",
        "cvssData": {
          "Safety": "NOT_DEFINED",
          "version": "4.0",
          "Recovery": "NOT_DEFINED",
          "baseScore": 8.6,
          "Automatable": "NOT_DEFINED",
          "attackVector": "LOCAL",
          "baseSeverity": "HIGH",
          "valueDensity": "NOT_DEFINED",
          "vectorString": "CVSS:4.0/AV:L/AC:L/AT:N/PR:N/UI:N/VC:H/VI:H/VA:H/SC:N/SI:N/SA:N/E:X/CR:X/IR:X/AR:X/MAV:X/MAC:X/MAT:X/MPR:X/MUI:X/MVC:X/MVI:X/MVA:X/MSC:X/MSI:X/MSA:X/S:X/AU:X/R:X/V:X/RE:X/U:X",
          "exploitMaturity": "NOT_DEFINED",
          "providerUrgency": "NOT_DEFINED",
          "userInteraction": "NONE",
          "attackComplexity": "LOW",
          "attackRequirements": "NONE",
          "privilegesRequired": "NONE",
          "subIntegrityImpact": "NONE",
          "vulnIntegrityImpact": "HIGH",
          "integrityRequirement": "NOT_DEFINED",
          "modifiedAttackVector": "NOT_DEFINED",
          "subAvailabilityImpact": "NONE",
          "vulnAvailabilityImpact": "HIGH",
          "availabilityRequirement": "NOT_DEFINED",
          "modifiedUserInteraction": "NOT_DEFINED",
          "modifiedAttackComplexity": "NOT_DEFINED",
          "subConfidentialityImpact": "NONE",
          "vulnConfidentialityImpact": "HIGH",
          "confidentialityRequirement": "NOT_DEFINED",
          "modifiedAttackRequirements": "NOT_DEFINED",
          "modifiedPrivilegesRequired": "NOT_DEFINED",
          "modifiedSubIntegrityImpact": "NOT_DEFINED",
          "modifiedVulnIntegrityImpact": "NOT_DEFINED",
          "vulnerabilityResponseEffort": "NOT_DEFINED",
          "modifiedSubAvailabilityImpact": "NOT_DEFINED",
          "modifiedVulnAvailabilityImpact": "NOT_DEFINED",
          "modifiedSubConfidentialityImpact": "NOT_DEFINED",
          "modifiedVulnConfidentialityImpact": "NOT_DEFINED"
        }
      }
    ]
  },
  "affected": [
    {
      "source": "security@ubuntu.com",
      "affectedData": [
        {
          "repo": "https://github.com/ros2/ros2cli",
          "vendor": "Open Source Robotics Foundation",
          "modules": [
            "ros2topic"
          ],
          "product": "Robot Operating System 2 (ROS 2)",
          "versions": [
            {
              "status": "affected",
              "version": "Rolling Ridley",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Lyrical Luth",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Kilted Kaiju",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Jazzy Jalisco",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Iron Irwini",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Humble Hawksbill",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Galactic Geochelone",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Foxy Fitzroy",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Eloquent Elusor",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Dashing Diademata",
              "versionType": "custom"
            },
            {
              "status": "affected",
              "version": "Crystal Clemmys",
              "versionType": "custom"
            }
          ],
          "platforms": [
            "Linux",
            "MacOS",
            "Windows"
          ],
          "packageName": "ros2topic",
          "programFiles": [
            "ros2topic/ros2topic/verb/hz.py"
          ],
          "defaultStatus": "unaffected"
        }
      ]
    }
  ],
  "published": "2026-09-28T22:17:28.617",
  "references": [
    {
      "url": "https://github.com/ros2/ros2cli/pull/1001",
      "source": "security@ubuntu.com"
    },
    {
      "url": "https://github.com/ros2/ros2cli/pull/133#discussion_r223081766",
      "source": "security@ubuntu.com"
    }
  ],
  "vulnStatus": "Awaiting Analysis",
  "weaknesses": [
    {
      "type": "Secondary",
      "source": "security@ubuntu.com",
      "description": [
        {
          "lang": "en",
          "value": "CWE-94"
        },
        {
          "lang": "en",
          "value": "CWE-95"
        }
      ]
    }
  ],
  "descriptions": [
    {
      "lang": "en",
      "value": "A code injection vulnerability has been discovered in the Robot Operating System 2 (ROS 2) 'ros2topic' command-line tool, affecting all ROS 2 distributions from Crystal Clemmys up to and including Lyrical Luth and Rolling Ridley. The vulnerability lies in the 'hz' verb, which reports the publishing rate of a topic and accepts a user-provided Python expression via the --filter option. This input is passed directly to the eval() function without sanitization, allowing a local user to craft and execute arbitrary code."
    }
  ],
  "lastModified": "2026-09-30T14:17:17.913",
  "sourceIdentifier": "security@ubuntu.com"
}