diff --git a/nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt b/nav_2d_msgs/CMakeLists.txt
similarity index 100%
rename from nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt
rename to nav_2d_msgs/CMakeLists.txt
diff --git a/nav2_dwb_controller/nav_2d_msgs/msg/Pose2D32.msg b/nav_2d_msgs/msg/Pose2D32.msg
similarity index 100%
rename from nav2_dwb_controller/nav_2d_msgs/msg/Pose2D32.msg
rename to nav_2d_msgs/msg/Pose2D32.msg
diff --git a/nav2_dwb_controller/nav_2d_msgs/msg/Twist2D.msg b/nav_2d_msgs/msg/Twist2D.msg
similarity index 100%
rename from nav2_dwb_controller/nav_2d_msgs/msg/Twist2D.msg
rename to nav_2d_msgs/msg/Twist2D.msg
diff --git a/nav2_dwb_controller/nav_2d_msgs/msg/Twist2D32.msg b/nav_2d_msgs/msg/Twist2D32.msg
similarity index 100%
rename from nav2_dwb_controller/nav_2d_msgs/msg/Twist2D32.msg
rename to nav_2d_msgs/msg/Twist2D32.msg
diff --git a/nav2_dwb_controller/nav_2d_msgs/msg/Twist2DStamped.msg b/nav_2d_msgs/msg/Twist2DStamped.msg
similarity index 100%
rename from nav2_dwb_controller/nav_2d_msgs/msg/Twist2DStamped.msg
rename to nav_2d_msgs/msg/Twist2DStamped.msg
diff --git a/nav2_dwb_controller/nav_2d_msgs/package.xml b/nav_2d_msgs/package.xml
similarity index 100%
rename from nav2_dwb_controller/nav_2d_msgs/package.xml
rename to nav_2d_msgs/package.xml
diff --git a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt b/nav_2d_utils/CMakeLists.txt
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
rename to nav_2d_utils/CMakeLists.txt
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp b/nav_2d_utils/include/nav_2d_utils/conversions.hpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
rename to nav_2d_utils/include/nav_2d_utils/conversions.hpp
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp b/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
rename to nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/parameters.hpp b/nav_2d_utils/include/nav_2d_utils/parameters.hpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/parameters.hpp
rename to nav_2d_utils/include/nav_2d_utils/parameters.hpp
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/path_ops.hpp b/nav_2d_utils/include/nav_2d_utils/path_ops.hpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/path_ops.hpp
rename to nav_2d_utils/include/nav_2d_utils/path_ops.hpp
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/tf_help.hpp b/nav_2d_utils/include/nav_2d_utils/tf_help.hpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/tf_help.hpp
rename to nav_2d_utils/include/nav_2d_utils/tf_help.hpp
diff --git a/nav2_dwb_controller/nav_2d_utils/package.xml b/nav_2d_utils/package.xml
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/package.xml
rename to nav_2d_utils/package.xml
diff --git a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp b/nav_2d_utils/src/conversions.cpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
rename to nav_2d_utils/src/conversions.cpp
diff --git a/nav2_dwb_controller/nav_2d_utils/src/path_ops.cpp b/nav_2d_utils/src/path_ops.cpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/src/path_ops.cpp
rename to nav_2d_utils/src/path_ops.cpp
diff --git a/nav2_dwb_controller/nav_2d_utils/src/tf_help.cpp b/nav_2d_utils/src/tf_help.cpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/src/tf_help.cpp
rename to nav_2d_utils/src/tf_help.cpp
diff --git a/nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp b/nav_2d_utils/test/2d_utils_test.cpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp
rename to nav_2d_utils/test/2d_utils_test.cpp
diff --git a/nav2_dwb_controller/nav_2d_utils/test/CMakeLists.txt b/nav_2d_utils/test/CMakeLists.txt
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/test/CMakeLists.txt
rename to nav_2d_utils/test/CMakeLists.txt
diff --git a/nav2_dwb_controller/nav_2d_utils/test/path_ops_test.cpp b/nav_2d_utils/test/path_ops_test.cpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/test/path_ops_test.cpp
rename to nav_2d_utils/test/path_ops_test.cpp
diff --git a/nav2_dwb_controller/nav_2d_utils/test/tf_help_test.cpp b/nav_2d_utils/test/tf_help_test.cpp
similarity index 100%
rename from nav2_dwb_controller/nav_2d_utils/test/tf_help_test.cpp
rename to nav_2d_utils/test/tf_help_test.cpp