---
id: CVE-2024-42002
title: >-
  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
summary: >-
  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 vul…
severity: high
cvss: 8.4
cvssVector: 'CVSS:3.1/AV:L/AC:L/PR:N/UI:N/S:U/C:H/I:H/A:H'
cwe:
  - CWE-94
  - CWE-95
vendor: Open Source Robotics Foundation
product: ros2topic
affected:
  - ros2topic Rolling Ridley
  - ros2topic Lyrical Luth
  - ros2topic Kilted Kaiju
  - ros2topic Jazzy Jalisco
  - ros2topic Iron Irwini
  - ros2topic Humble Hawksbill
  - ros2topic Galactic Geochelone
  - ros2topic Foxy Fitzroy
  - ros2topic Eloquent Elusor
  - ros2topic Dashing Diademata
  - ros2topic Crystal Clemmys
published: '2026-09-28'
updated: '2026-09-28'
sourceUpdated: '2026-09-28T22:17:28.617'
source: NVD
sourceUrl: 'https://nvd.nist.gov/vuln/detail/CVE-2024-42002'
references:
  - url: 'https://github.com/ros2/ros2cli/pull/1001'
    label: security@ubuntu.com
  - url: 'https://github.com/ros2/ros2cli/pull/133#discussion_r223081766'
    label: security@ubuntu.com
tags:
  - nvd
  - cve.org
ingestedAt: '2026-09-28T22:22:13.606Z'
---

## Overview

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.

## Remediation

Refer to the linked advisories for vendor-supplied fixes and affected version ranges.