CVE-2021-41490: 
Linux Debian vulnerability analysis and mitigation

Memory leaks in LazyPRM.cpp of OMPL (Open Motion Planning Library) version 1.5.0 can cause unexpected behavior. The vulnerability was assigned CVE-2021-41490 and was discovered in September 2021 (GitHub Issue).

The vulnerability exists in the LazyPRM.cpp file, specifically in lines 368, 343, and 324 where memory allocation occurs. The issue arises when the freeMemory() function fails to completely release allocated memory spaces, leading to memory leaks. This occurs because the program continues to allocate memory after the last call to freeMemory() (GitHub Issue). The vulnerability has been assigned a CVSS v3.1 base score of 7.5 HIGH (Vector: CVSS:3.1/AV:N/AC:L/PR:N/UI:N/S:U/C:N/I:N/A:H) (NVD).

The memory leaks can cause unexpected behavior in systems using OMPL v1.5.0. This primarily affects the availability of the system, as indicated by the CVSS scoring which shows high impact on availability but no impact on confidentiality or integrity (NVD).

The vulnerability affects OMPL version 1.5.0. Users should upgrade to a newer version of OMPL where this issue has been addressed (NVD).