CVE-2026-26011: Nav2 Pose With Covariance Stamped Missing Covariance Validation
The validateMsg() overload for geometry_msgs::msg::PoseWithCovarianceStamped checks the header and pose sub-fields but never validates the 36-element pose.covariance array. Unsanitized non-finite or extreme (>1e9) covariance entries flow into AMCL's pf_init()/pf_cluster_stats(), where a negative cluster index (-1) is used as an array subscript and corrupts h
C++greprules fetch cve-2026-26011-nav2-pose-with-covariance-stamped-missing-covariance-validation --engine opengrepDescription
The validateMsg() overload for geometry_msgs::msg::PoseWithCovarianceStamped checks the header and pose sub-fields but never validates the 36-element pose.covariance array. Unsanitized non-finite or extreme (>1e9) covariance entries flow into AMCL's pf_init()/pf_cluster_stats(), where a negative cluster index (-1) is used as an array subscript and corrupts h
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