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Date: Tue, 23 Apr 2024 10:06:24 +0530
From: Yash Patel <>
To: Mark Esler <>
	"Dr. Parag H. Rughani" <>
Subject: Re: 83 bogus CVEs assigned to Robot Operating System (ROS)

Thank you for the guidance. I will review the disclosure policy outlined in
REP-2006 and prepare a detailed report with proof of concepts. I also plan
to reach out to the upstream team for further advice and will share the
manuscript with them as suggested.

*Yash Patel*
Ph.D. Research Scholar
National Forensic Sciences University
Ministry of Home Affairs, Government of India
[An Institution of National Importance]
Gandhinagar, Gujarat, India

On Tue, Apr 23, 2024 at 9:56 AM Mark Esler <> wrote:

> Reporting security issues to ROS 2 with proof of concepts and by following
> their disclosure policy would be appreciated and valued.
> I recommend asking upstream for advice and sharing your manuscript with
> them.
> Mark Esler
> On 4/22/24 20:52, Yash Patel wrote:
> Thank you for your detailed overview regarding the CVEs attributed to our
> research on ROS/ROS 2. We appreciate the scrutiny and understand the
> concerns raised by you and other parties.
> I want to clarify that our findings are based on extensive tests conducted
> in real-world scenarios within controlled laboratory settings, where actual
> robots were subjected to attacks. This method is crucial as it transcends
> theoretical analysis and involves direct interaction with the equipment
> that is still operational in many industrial sectors, although on
> unsupported ROS/ROS2 versions.
> We acknowledge that the CVE descriptions were initially drafted at a high
> level and may not have included comprehensive technical details. This was
> due to pending publication of our full research papers, which delve deeper
> into the specifics of each vulnerability. We are preparing a separate
> document to address this gap, providing the evidence and methodologies
> employed during our research.
> Furthermore, it is worth noting that while some ROS versions are no longer
> supported by the official development team, they are still actively used in
> various industries. Our work aims to highlight security risks that could
> affect these legacy systems, thereby aiding in proactive cybersecurity
> measures.
> We are open to dialogue and further investigation by third-party experts.
> If the consent remains suspicious of the vulnerability claims, we are
> prepared to request revocation of the CVEs to maintain the integrity of the
> reporting process. Our primary goal is to contribute positively to the
> security of the robotic ecosystem, and we are committed to transparency and
> collaboration to achieve this.
> Looking forward to your constructive feedback and hoping for an
> opportunity to discuss our findings in detail.
> *Yash Patel*
> Ph.D. Research Scholar
> National Forensic Sciences University
> Ministry of Home Affairs, Government of India
> [An Institution of National Importance]
> Gandhinagar, Gujarat, India
> On Tue, Apr 23, 2024 at 5:22 AM Mark Esler <>
> wrote:
>> Yash Patel and Dr. Parag Rughani are credited as the discoverers for
>> eighty-three recent CVEs affecting ROS 2 which the MITRE TL-Root CNA
>> assigned.
>> All CVE descriptions are written at a very high, vague, level. No
>> specifics or evidence has been provided to backup vulnerability claims.
>> Three CVEs (CVE-2023-33565, CVE-2023-33566, and CVE-2023-33567)
>> reference the discoverer's 2022 ACM paper "Analyzing Security
>> Vulnerability and Forensic Investigation of ROS2: A Case Study" [0]. The
>> more technical portion of this paper was confirmed [1] to be based on a
>> ROS 2 beginner tutorial [2]. The paper does not attribute ROS 2
>> documentation.
>> Some CVEs claim that a security update will be forthcoming from the ROS
>> 2 development team [3]. Privately [4], ROS 2 core developers stated that
>> they were not contacted and "came to the conclusion that [these CVEs]
>> were likely not real security vulnerabilities.".
>> Certain CVEs describe unlikely situations. For instance, CVE-2024-30737
>> claims: "A critical vulnerability has been identified in ROS Kinetic
>> Kame, particularly in configurations with ROS_VERSION=1 and
>> ROS_PYTHON_VERSION=3." [5]. ROS Kinetic Kame supports Python 2, not
>> Python 3.
>> Frankly, all descriptions appear to be copy-pasted or generated to
>> _sound_ like security issues. No evidence has been provided in the ACM
>> paper or the 83 CVEs to suggest that vulnerabilities actually exist.
>> CVE revocation requests have been sent to MITRE and CVE descriptions
>> have been appended with: "NOTE: this is disputed by multiple third
>> parties who believe there was not reasonable evidence to determine the
>> existence of a vulnerability."
>> The CVE IDs are: CVE-2023-33565, CVE-2023-33566, CVE-2023-33567,
>> CVE-2023-51197, CVE-2023-51198, CVE-2023-51199, CVE-2023-51200,
>> CVE-2023-51201, CVE-2023-51202, CVE-2023-51204, CVE-2023-51208,
>> CVE-2024-29439, CVE-2024-29440, CVE-2024-29441, CVE-2024-29442,
>> CVE-2024-29443, CVE-2024-29444, CVE-2024-29445, CVE-2024-29447,
>> CVE-2024-29448, CVE-2024-29449, CVE-2024-29450, CVE-2024-29452,
>> CVE-2024-29454, CVE-2024-29455, CVE-2024-30657, CVE-2024-30658,
>> CVE-2024-30659, CVE-2024-30661, CVE-2024-30662, CVE-2024-30663,
>> CVE-2024-30665, CVE-2024-30666, CVE-2024-30667, CVE-2024-30672,
>> CVE-2024-30674, CVE-2024-30675, CVE-2024-30676, CVE-2024-30678,
>> CVE-2024-30679, CVE-2024-30680, CVE-2024-30681, CVE-2024-30683,
>> CVE-2024-30684, CVE-2024-30686, CVE-2024-30687, CVE-2024-30688,
>> CVE-2024-30690, CVE-2024-30691, CVE-2024-30692, CVE-2024-30694,
>> CVE-2024-30695, CVE-2024-30696, CVE-2024-30697, CVE-2024-30699,
>> CVE-2024-30701, CVE-2024-30702, CVE-2024-30703, CVE-2024-30704,
>> CVE-2024-30706, CVE-2024-30707, CVE-2024-30708, CVE-2024-30710,
>> CVE-2024-30711, CVE-2024-30712, CVE-2024-30713, CVE-2024-30715,
>> CVE-2024-30716, CVE-2024-30718, CVE-2024-30719, CVE-2024-30721,
>> CVE-2024-30722, CVE-2024-30723, CVE-2024-30724, CVE-2024-30726,
>> CVE-2024-30727, CVE-2024-30728, CVE-2024-30729, CVE-2024-30730,
>> CVE-2024-30733, CVE-2024-30735, CVE-2024-30736, and CVE-2024-30737
>> Many thanks to Florencia Cabral Berenfus for her analysis of these claims!
>> Mark Esler
>> [0]
>> [1]
>> [2]
>> [3]
>> [4] message ID
>> <>
>> [5]

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