diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
index 56ea5d7e794..93885ef7efc 100644
--- a/nav2_controller/CMakeLists.txt
+++ b/nav2_controller/CMakeLists.txt
@@ -11,8 +11,6 @@ find_package(nav2_common REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
-find_package(nav_2d_msgs REQUIRED)
-find_package(nav_2d_utils REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rcl_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -42,9 +40,6 @@ target_link_libraries(${library_name} PUBLIC
   ${nav2_msgs_TARGETS}
   nav2_util::nav2_util_core
   nav2_ros_common::nav2_ros_common
-  ${nav_2d_msgs_TARGETS}
-  nav_2d_utils::conversions
-  nav_2d_utils::tf_help
   pluginlib::pluginlib
   rclcpp::rclcpp
   rclcpp_lifecycle::rclcpp_lifecycle
@@ -86,7 +81,6 @@ target_link_libraries(simple_progress_checker PUBLIC
 )
 target_link_libraries(simple_progress_checker PRIVATE
   nav2_util::nav2_util_core
-  nav_2d_utils::conversions
   pluginlib::pluginlib
 )
 
@@ -107,7 +101,6 @@ target_link_libraries(pose_progress_checker PUBLIC
 target_link_libraries(pose_progress_checker PRIVATE
   angles::angles
   nav2_util::nav2_util_core
-  nav_2d_utils::conversions
   pluginlib::pluginlib
 )
 
@@ -218,8 +211,6 @@ ament_export_dependencies(
   nav2_costmap_2d
   nav2_msgs
   nav2_util
-  nav_2d_msgs
-  nav_2d_utils
   pluginlib
   rclcpp
   rclcpp_lifecycle
diff --git a/nav2_controller/include/nav2_controller/controller_server.hpp b/nav2_controller/include/nav2_controller/controller_server.hpp
index a838854a52b..b68c8e5bb94 100644
--- a/nav2_controller/include/nav2_controller/controller_server.hpp
+++ b/nav2_controller/include/nav2_controller/controller_server.hpp
@@ -29,10 +29,10 @@
 #include "tf2_ros/transform_listener.hpp"
 #include "nav2_msgs/action/follow_path.hpp"
 #include "nav2_msgs/msg/speed_limit.hpp"
-#include "nav_2d_utils/odom_subscriber.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_ros_common/simple_action_server.hpp"
 #include "nav2_util/robot_utils.hpp"
+#include "nav2_util/odometry_utils.hpp"
 #include "nav2_util/twist_publisher.hpp"
 #include "pluginlib/class_loader.hpp"
 #include "pluginlib/class_list_macros.hpp"
@@ -208,12 +208,12 @@ class ControllerServer : public nav2::LifecycleNode
    * @param Twist The current Twist from odometry
    * @return Twist Twist after thresholds applied
    */
-  nav_2d_msgs::msg::Twist2D getThresholdedTwist(const nav_2d_msgs::msg::Twist2D & twist)
+  geometry_msgs::msg::Twist getThresholdedTwist(const geometry_msgs::msg::Twist & twist)
   {
-    nav_2d_msgs::msg::Twist2D twist_thresh;
-    twist_thresh.x = getThresholdedVelocity(twist.x, min_x_velocity_threshold_);
-    twist_thresh.y = getThresholdedVelocity(twist.y, min_y_velocity_threshold_);
-    twist_thresh.theta = getThresholdedVelocity(twist.theta, min_theta_velocity_threshold_);
+    geometry_msgs::msg::Twist twist_thresh;
+    twist_thresh.linear.x = getThresholdedVelocity(twist.linear.x, min_x_velocity_threshold_);
+    twist_thresh.linear.y = getThresholdedVelocity(twist.linear.y, min_y_velocity_threshold_);
+    twist_thresh.angular.z = getThresholdedVelocity(twist.angular.z, min_theta_velocity_threshold_);
     return twist_thresh;
   }
 
@@ -233,7 +233,7 @@ class ControllerServer : public nav2::LifecycleNode
   std::unique_ptr<nav2::NodeThread> costmap_thread_;
 
   // Publishers and subscribers
-  std::unique_ptr<nav_2d_utils::OdomSubscriber> odom_sub_;
+  std::unique_ptr<nav2_util::OdomSmoother> odom_sub_;
   std::unique_ptr<nav2_util::TwistPublisher> vel_publisher_;
   nav2::Subscription<nav2_msgs::msg::SpeedLimit>::SharedPtr speed_limit_sub_;
 
diff --git a/nav2_controller/package.xml b/nav2_controller/package.xml
index b5be342451c..9360c10d05f 100644
--- a/nav2_controller/package.xml
+++ b/nav2_controller/package.xml
@@ -18,8 +18,6 @@
   <depend>nav2_costmap_2d</depend>
   <depend>nav2_msgs</depend>
   <depend>nav2_util</depend>
-  <depend>nav_2d_msgs</depend>
-  <depend>nav_2d_utils</depend>
   <depend>pluginlib</depend>
   <depend>rcl_interfaces</depend>
   <depend>rclcpp</depend>
diff --git a/nav2_controller/plugins/pose_progress_checker.cpp b/nav2_controller/plugins/pose_progress_checker.cpp
index 453d20992e8..a891104cac0 100644
--- a/nav2_controller/plugins/pose_progress_checker.cpp
+++ b/nav2_controller/plugins/pose_progress_checker.cpp
@@ -18,7 +18,6 @@
 #include <memory>
 #include <vector>
 #include "angles/angles.h"
-#include "nav_2d_utils/conversions.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "nav2_ros_common/node_utils.hpp"
diff --git a/nav2_controller/plugins/simple_progress_checker.cpp b/nav2_controller/plugins/simple_progress_checker.cpp
index 2e219cdeee8..df3cb77df69 100644
--- a/nav2_controller/plugins/simple_progress_checker.cpp
+++ b/nav2_controller/plugins/simple_progress_checker.cpp
@@ -17,7 +17,6 @@
 #include <string>
 #include <memory>
 #include <vector>
-#include "nav_2d_utils/conversions.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "nav2_ros_common/node_utils.hpp"
diff --git a/nav2_controller/plugins/test/CMakeLists.txt b/nav2_controller/plugins/test/CMakeLists.txt
index cd8048513d4..ba0ce9eb2d5 100644
--- a/nav2_controller/plugins/test/CMakeLists.txt
+++ b/nav2_controller/plugins/test/CMakeLists.txt
@@ -1,5 +1,5 @@
 ament_add_gtest(pctest progress_checker.cpp)
-target_link_libraries(pctest simple_progress_checker pose_progress_checker nav_2d_utils::conversions)
+target_link_libraries(pctest simple_progress_checker pose_progress_checker)
 
 ament_add_gtest(gctest goal_checker.cpp)
-target_link_libraries(gctest simple_goal_checker stopped_goal_checker nav_2d_utils::conversions)
+target_link_libraries(gctest simple_goal_checker stopped_goal_checker)
diff --git a/nav2_controller/plugins/test/goal_checker.cpp b/nav2_controller/plugins/test/goal_checker.cpp
index 4730aeb3a04..1aba1ba80bb 100644
--- a/nav2_controller/plugins/test/goal_checker.cpp
+++ b/nav2_controller/plugins/test/goal_checker.cpp
@@ -38,7 +38,6 @@
 #include "gtest/gtest.h"
 #include "nav2_controller/plugins/simple_goal_checker.hpp"
 #include "nav2_controller/plugins/stopped_goal_checker.hpp"
-#include "nav_2d_utils/conversions.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "eigen3/Eigen/Geometry"
diff --git a/nav2_controller/plugins/test/progress_checker.cpp b/nav2_controller/plugins/test/progress_checker.cpp
index 0791b9e9c27..293daf13a25 100644
--- a/nav2_controller/plugins/test/progress_checker.cpp
+++ b/nav2_controller/plugins/test/progress_checker.cpp
@@ -38,7 +38,6 @@
 #include "gtest/gtest.h"
 #include "nav2_controller/plugins/simple_progress_checker.hpp"
 #include "nav2_controller/plugins/pose_progress_checker.hpp"
-#include "nav_2d_utils/conversions.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_util/geometry_utils.hpp"
 
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 26187087ec1..66b62e667e2 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -21,8 +21,6 @@
 
 #include "lifecycle_msgs/msg/state.hpp"
 #include "nav2_core/controller_exceptions.hpp"
-#include "nav_2d_utils/conversions.hpp"
-#include "nav_2d_utils/tf_help.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_controller/controller_server.hpp"
@@ -65,6 +63,9 @@ ControllerServer::ControllerServer(const rclcpp::NodeOptions & options)
   declare_parameter("publish_zero_velocity", rclcpp::ParameterValue(true));
   declare_parameter("costmap_update_timeout", 0.30);  // 300ms
 
+  declare_parameter("odom_topic", rclcpp::ParameterValue("odom"));
+  declare_parameter("odom_duration", rclcpp::ParameterValue(0.3));
+
   // The costmap node is used in the implementation of the controller
   costmap_ros_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>(
     "local_costmap", std::string{get_namespace()},
@@ -125,8 +126,11 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
   get_parameter("min_theta_velocity_threshold", min_theta_velocity_threshold_);
   RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
 
-  std::string speed_limit_topic;
+  std::string speed_limit_topic, odom_topic;
   get_parameter("speed_limit_topic", speed_limit_topic);
+  get_parameter("odom_topic", odom_topic);
+  double odom_duration;
+  get_parameter("odom_duration", odom_duration);
   get_parameter("failure_tolerance", failure_tolerance_);
   get_parameter("use_realtime_priority", use_realtime_priority_);
   get_parameter("publish_zero_velocity", publish_zero_velocity_);
@@ -219,7 +223,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & state)
     get_logger(),
     "Controller Server has %s controllers available.", controller_ids_concat_.c_str());
 
-  odom_sub_ = std::make_unique<nav_2d_utils::OdomSubscriber>(node);
+  odom_sub_ = std::make_unique<nav2_util::OdomSmoother>(node, odom_duration, odom_topic);
   vel_publisher_ = std::make_unique<nav2_util::TwistPublisher>(node, "cmd_vel");
 
   double costmap_update_timeout_dbl;
@@ -624,7 +628,7 @@ void ControllerServer::computeAndPublishVelocity()
     throw nav2_core::FailedToMakeProgress("Failed to make progress");
   }
 
-  nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist());
+  geometry_msgs::msg::Twist twist = getThresholdedTwist(odom_sub_->getRawTwist());
 
   geometry_msgs::msg::TwistStamped cmd_vel_2d;
 
@@ -632,7 +636,7 @@ void ControllerServer::computeAndPublishVelocity()
     cmd_vel_2d =
       controllers_[current_controller_]->computeVelocityCommands(
       pose,
-      nav_2d_utils::twist2Dto3D(twist),
+      twist,
       goal_checkers_[current_goal_checker_].get());
     last_valid_cmd_time_ = now();
     cmd_vel_2d.header.frame_id = costmap_ros_->getBaseFrameID();
@@ -665,10 +669,9 @@ void ControllerServer::computeAndPublishVelocity()
 
   // Find the closest pose to current pose on global path
   geometry_msgs::msg::PoseStamped robot_pose_in_path_frame;
-  rclcpp::Duration tolerance(rclcpp::Duration::from_seconds(costmap_ros_->getTransformTolerance()));
-  if (!nav_2d_utils::transformPose(
-          costmap_ros_->getTfBuffer(), current_path_.header.frame_id, pose,
-          robot_pose_in_path_frame, tolerance))
+  if (!nav2_util::transformPoseInTargetFrame(
+          pose, robot_pose_in_path_frame, *costmap_ros_->getTfBuffer(),
+          current_path_.header.frame_id, costmap_ros_->getTransformTolerance()))
   {
     throw nav2_core::ControllerTFError("Failed to transform robot pose to path frame");
   }
@@ -793,14 +796,12 @@ bool ControllerServer::isGoalReached()
     return false;
   }
 
-  nav_2d_msgs::msg::Twist2D twist = getThresholdedTwist(odom_sub_->getTwist());
-  geometry_msgs::msg::Twist velocity = nav_2d_utils::twist2Dto3D(twist);
+  geometry_msgs::msg::Twist velocity = getThresholdedTwist(odom_sub_->getRawTwist());
 
   geometry_msgs::msg::PoseStamped transformed_end_pose;
-  rclcpp::Duration tolerance(rclcpp::Duration::from_seconds(costmap_ros_->getTransformTolerance()));
-  nav_2d_utils::transformPose(
-    costmap_ros_->getTfBuffer(), costmap_ros_->getGlobalFrameID(),
-    end_pose_, transformed_end_pose, tolerance);
+  nav2_util::transformPoseInTargetFrame(
+    end_pose_, transformed_end_pose, *costmap_ros_->getTfBuffer(),
+    costmap_ros_->getGlobalFrameID(), costmap_ros_->getTransformTolerance());
 
   return goal_checkers_[current_goal_checker_]->isGoalReached(
     pose.pose, transformed_end_pose.pose,
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp b/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
index eb1497f21db..4538b2e447d 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
@@ -27,7 +27,7 @@
 #include "nav2_ros_common/node_utils.hpp"
 #include "nav2_ros_common/simple_action_server.hpp"
 #include "nav2_util/twist_publisher.hpp"
-#include "nav_2d_utils/odom_subscriber.hpp"
+#include "nav2_util/odometry_utils.hpp"
 #include "opennav_docking/controller.hpp"
 #include "opennav_docking/utils.hpp"
 #include "opennav_docking/types.hpp"
@@ -264,7 +264,7 @@ class DockingServer : public nav2::LifecycleNode
   rclcpp::Time action_start_time_;
 
   std::unique_ptr<nav2_util::TwistPublisher> vel_publisher_;
-  std::unique_ptr<nav_2d_utils::OdomSubscriber> odom_sub_;
+  std::unique_ptr<nav2_util::OdomSmoother> odom_sub_;
   typename DockingActionServer::SharedPtr docking_action_server_;
   typename UndockingActionServer::SharedPtr undocking_action_server_;
 
diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
index 9048c70a29a..7838158f8af 100644
--- a/nav2_docking/opennav_docking/src/controller.cpp
+++ b/nav2_docking/opennav_docking/src/controller.cpp
@@ -19,7 +19,6 @@
 #include "opennav_docking/controller.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_ros_common/node_utils.hpp"
-#include "nav_2d_utils/conversions.hpp"
 #include "tf2/utils.hpp"
 
 namespace opennav_docking
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index 3584af4e9d3..17dc1c28da3 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -42,6 +42,7 @@ DockingServer::DockingServer(const rclcpp::NodeOptions & options)
   declare_parameter("dock_backwards", rclcpp::PARAMETER_BOOL);
   declare_parameter("dock_prestaging_tolerance", 0.5);
   declare_parameter("odom_topic", "odom");
+  declare_parameter("odom_duration", 0.3);
   declare_parameter("rotation_angular_tolerance", 0.05);
 }
 
@@ -83,7 +84,9 @@ DockingServer::on_configure(const rclcpp_lifecycle::State & state)
   // Create odom subscriber for backward blind docking
   std::string odom_topic;
   get_parameter("odom_topic", odom_topic);
-  odom_sub_ = std::make_unique<nav_2d_utils::OdomSubscriber>(node, odom_topic);
+  double odom_duration;
+  get_parameter("odom_duration", odom_duration);
+  odom_sub_ = std::make_unique<nav2_util::OdomSmoother>(node, odom_duration, odom_topic);
 
   // Create the action servers for dock / undock
   docking_action_server_ = node->create_action_server<DockRobot>(
@@ -464,7 +467,7 @@ void DockingServer::rotateToDock(const geometry_msgs::msg::PoseStamped & dock_po
     }
 
     auto current_vel = std::make_unique<geometry_msgs::msg::TwistStamped>();
-    current_vel->twist.angular.z = odom_sub_->getTwist().theta;
+    current_vel->twist.angular.z = odom_sub_->getRawTwist().angular.z;
 
     auto command = std::make_unique<geometry_msgs::msg::TwistStamped>();
     command->header = robot_pose.header;
diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
index b57c2291a51..00789a46e3d 100644
--- a/nav2_dwb_controller/dwb_core/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -45,7 +45,6 @@ target_link_libraries(dwb_core PUBLIC
   nav2_util::nav2_util_core
   ${nav_2d_msgs_TARGETS}
   nav_2d_utils::conversions
-  nav_2d_utils::tf_help
   ${nav_msgs_TARGETS}
   pluginlib::pluginlib
   rclcpp::rclcpp
diff --git a/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp b/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
index 41120a7c48a..63013bd091e 100644
--- a/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
+++ b/nav2_dwb_controller/dwb_core/include/dwb_core/dwb_local_planner.hpp
@@ -199,7 +199,7 @@ class DWBLocalPlanner : public nav2_core::Controller
   bool prune_plan_;
   double prune_distance_;
   bool debug_trajectory_details_;
-  rclcpp::Duration transform_tolerance_{0, 0};
+  double transform_tolerance_{0};
   bool shorten_transformed_plan_;
   double forward_prune_distance_;
 
diff --git a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
index e539c98819a..5c1b47322a6 100644
--- a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
+++ b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
@@ -44,7 +44,6 @@
 #include "dwb_msgs/msg/critic_score.hpp"
 #include "nav_2d_msgs/msg/twist2_d.hpp"
 #include "nav_2d_utils/conversions.hpp"
-#include "nav_2d_utils/tf_help.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_ros_common/lifecycle_node.hpp"
 #include "nav2_ros_common/node_utils.hpp"
@@ -112,8 +111,7 @@ void DWBLocalPlanner::configure(
   std::string traj_generator_name;
 
   double transform_tolerance;
-  node->get_parameter(dwb_plugin_name_ + ".transform_tolerance", transform_tolerance);
-  transform_tolerance_ = rclcpp::Duration::from_seconds(transform_tolerance);
+  node->get_parameter(dwb_plugin_name_ + ".transform_tolerance", transform_tolerance_);
   RCLCPP_INFO(logger_, "Setting transform_tolerance to %f", transform_tolerance);
 
   node->get_parameter(dwb_plugin_name_ + ".prune_plan", prune_plan_);
@@ -293,9 +291,9 @@ DWBLocalPlanner::prepareGlobalPlan(
 
   goal_pose.header.frame_id = global_plan_.header.frame_id;
   goal_pose.pose = global_plan_.poses.back().pose;
-  nav_2d_utils::transformPose(
-    tf_, costmap_ros_->getGlobalFrameID(), goal_pose,
-    goal_pose, transform_tolerance_);
+  nav2_util::transformPoseInTargetFrame(
+    goal_pose, goal_pose, *tf_,
+    costmap_ros_->getGlobalFrameID(), transform_tolerance_);
 }
 
 nav_2d_msgs::msg::Twist2DStamped
@@ -470,9 +468,9 @@ DWBLocalPlanner::transformGlobalPlan(
 
   // let's get the pose of the robot in the frame of the plan
   geometry_msgs::msg::PoseStamped robot_pose;
-  if (!nav_2d_utils::transformPose(
-      tf_, global_plan_.header.frame_id, pose,
-      robot_pose, transform_tolerance_))
+  if (!nav2_util::transformPoseInTargetFrame(
+      pose, robot_pose, *tf_,
+      global_plan_.header.frame_id, transform_tolerance_))
   {
     throw nav2_core::
           ControllerTFError("Unable to transform robot pose into global plan's frame");
@@ -538,9 +536,9 @@ DWBLocalPlanner::transformGlobalPlan(
   // frame to local
   auto transformGlobalPoseToLocal = [&](const auto & global_plan_pose) {
       geometry_msgs::msg::PoseStamped transformed_pose;
-      nav_2d_utils::transformPose(
-        tf_, transformed_plan.header.frame_id,
-        global_plan_pose, transformed_pose, transform_tolerance_);
+      nav2_util::transformPoseInTargetFrame(
+        global_plan_pose, transformed_pose, *tf_,
+        transformed_plan.header.frame_id, transform_tolerance_);
       return transformed_pose;
     };
 
diff --git a/nav2_dwb_controller/dwb_critics/src/goal_align.cpp b/nav2_dwb_controller/dwb_critics/src/goal_align.cpp
index 1ae85c2e1dd..f8b713c032f 100644
--- a/nav2_dwb_controller/dwb_critics/src/goal_align.cpp
+++ b/nav2_dwb_controller/dwb_critics/src/goal_align.cpp
@@ -37,7 +37,6 @@
 #include <string>
 #include "dwb_critics/alignment_util.hpp"
 #include "pluginlib/class_list_macros.hpp"
-#include "nav_2d_utils/parameters.hpp"
 
 namespace dwb_critics
 {
@@ -52,9 +51,8 @@ void GoalAlignCritic::onInit()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  forward_point_distance_ = nav_2d_utils::searchAndGetParam(
-    node,
-    dwb_plugin_name_ + "." + name_ + ".forward_point_distance", 0.325);
+  forward_point_distance_ = node->declare_or_get_parameter(dwb_plugin_name_ + "." + name_ +
+      ".forward_point_distance", 0.325);
 }
 
 bool GoalAlignCritic::prepare(
diff --git a/nav2_dwb_controller/dwb_critics/src/oscillation.cpp b/nav2_dwb_controller/dwb_critics/src/oscillation.cpp
index bad8e40e3ff..170a9764c1f 100644
--- a/nav2_dwb_controller/dwb_critics/src/oscillation.cpp
+++ b/nav2_dwb_controller/dwb_critics/src/oscillation.cpp
@@ -37,7 +37,6 @@
 #include <cmath>
 #include <string>
 #include <vector>
-#include "nav_2d_utils/parameters.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 #include "dwb_core/exceptions.hpp"
 #include "pluginlib/class_list_macros.hpp"
@@ -99,16 +98,13 @@ void OscillationCritic::onInit()
 
   clock_ = node->get_clock();
 
-  oscillation_reset_dist_ = nav_2d_utils::searchAndGetParam(
-    node,
-    dwb_plugin_name_ + "." + name_ + ".oscillation_reset_dist", 0.05);
+  oscillation_reset_dist_ = node->declare_or_get_parameter(dwb_plugin_name_ + "." + name_ +
+      ".oscillation_reset_dist", 0.05);
   oscillation_reset_dist_sq_ = oscillation_reset_dist_ * oscillation_reset_dist_;
-  oscillation_reset_angle_ = nav_2d_utils::searchAndGetParam(
-    node,
+  oscillation_reset_angle_ = node->declare_or_get_parameter(
     dwb_plugin_name_ + "." + name_ + ".oscillation_reset_angle", 0.2);
   oscillation_reset_time_ = rclcpp::Duration::from_seconds(
-    nav_2d_utils::searchAndGetParam(
-      node,
+    node->declare_or_get_parameter(
       dwb_plugin_name_ + "." + name_ + ".oscillation_reset_time", -1.0));
 
   nav2::declare_parameter_if_not_declared(
diff --git a/nav2_dwb_controller/dwb_critics/src/path_align.cpp b/nav2_dwb_controller/dwb_critics/src/path_align.cpp
index 6c4b28ea6f5..d91414586dd 100644
--- a/nav2_dwb_controller/dwb_critics/src/path_align.cpp
+++ b/nav2_dwb_controller/dwb_critics/src/path_align.cpp
@@ -37,7 +37,6 @@
 #include <string>
 #include "dwb_critics/alignment_util.hpp"
 #include "pluginlib/class_list_macros.hpp"
-#include "nav_2d_utils/parameters.hpp"
 
 namespace dwb_critics
 {
@@ -52,8 +51,7 @@ void PathAlignCritic::onInit()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  forward_point_distance_ = nav_2d_utils::searchAndGetParam(
-    node,
+  forward_point_distance_ = node->declare_or_get_parameter(
     dwb_plugin_name_ + "." + name_ + ".forward_point_distance", 0.325);
 }
 
diff --git a/nav2_dwb_controller/dwb_critics/src/rotate_to_goal.cpp b/nav2_dwb_controller/dwb_critics/src/rotate_to_goal.cpp
index f4323188b18..34f2ae95335 100644
--- a/nav2_dwb_controller/dwb_critics/src/rotate_to_goal.cpp
+++ b/nav2_dwb_controller/dwb_critics/src/rotate_to_goal.cpp
@@ -35,7 +35,6 @@
 #include "dwb_critics/rotate_to_goal.hpp"
 #include <string>
 #include <vector>
-#include "nav_2d_utils/parameters.hpp"
 #include "dwb_core/exceptions.hpp"
 #include "pluginlib/class_list_macros.hpp"
 #include "dwb_core/trajectory_utils.hpp"
@@ -58,19 +57,15 @@ void RotateToGoalCritic::onInit()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  xy_goal_tolerance_ = nav_2d_utils::searchAndGetParam(
-    node,
+  xy_goal_tolerance_ = node->declare_or_get_parameter(
     dwb_plugin_name_ + ".xy_goal_tolerance", 0.25);
   xy_goal_tolerance_sq_ = xy_goal_tolerance_ * xy_goal_tolerance_;
-  double stopped_xy_velocity = nav_2d_utils::searchAndGetParam(
-    node,
+  double stopped_xy_velocity = node->declare_or_get_parameter(
     dwb_plugin_name_ + ".trans_stopped_velocity", 0.25);
   stopped_xy_velocity_sq_ = stopped_xy_velocity * stopped_xy_velocity;
-  slowing_factor_ = nav_2d_utils::searchAndGetParam(
-    node,
+  slowing_factor_ = node->declare_or_get_parameter(
     dwb_plugin_name_ + "." + name_ + ".slowing_factor", 5.0);
-  lookahead_time_ = nav_2d_utils::searchAndGetParam(
-    node,
+  lookahead_time_ = node->declare_or_get_parameter(
     dwb_plugin_name_ + "." + name_ + ".lookahead_time", -1.0);
   reset();
 }
diff --git a/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp b/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
index dde49133011..c1152bc3f5b 100644
--- a/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
+++ b/nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp
@@ -38,7 +38,6 @@
 #include <string>
 #include <vector>
 
-#include "nav_2d_utils/parameters.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 #include "nav2_costmap_2d/costmap_filters/filter_values.hpp"
 
diff --git a/nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp b/nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp
index 24d1c255973..4c096f7e1f1 100644
--- a/nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp
+++ b/nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp
@@ -36,7 +36,6 @@
 #include <vector>
 #include <memory>
 #include <string>
-#include "nav_2d_utils/parameters.hpp"
 #include "pluginlib/class_list_macros.hpp"
 #include "dwb_core/exceptions.hpp"
 #include "nav2_ros_common/node_utils.hpp"
@@ -65,8 +64,7 @@ void LimitedAccelGenerator::initialize(
     RCLCPP_WARN(
       rclcpp::get_logger("LimitedAccelGenerator"),
       "'sim_period' parameter is not set for %s", plugin_name.c_str());
-    double controller_frequency = nav_2d_utils::searchAndGetParam(
-      nh, "controller_frequency", 20.0);
+    double controller_frequency = nh->declare_or_get_parameter("controller_frequency", 20.0);
     if (controller_frequency > 0) {
       acceleration_time_ = 1.0 / controller_frequency;
     } else {
diff --git a/nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp b/nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp
index 8e68a399f08..a11dd8ece0b 100644
--- a/nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp
+++ b/nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp
@@ -38,7 +38,6 @@
 #include <algorithm>
 #include <memory>
 #include "dwb_plugins/xy_theta_iterator.hpp"
-#include "nav_2d_utils/parameters.hpp"
 #include "pluginlib/class_list_macros.hpp"
 #include "dwb_core/exceptions.hpp"
 #include "nav2_ros_common/node_utils.hpp"
diff --git a/nav2_dwb_controller/dwb_plugins/src/xy_theta_iterator.cpp b/nav2_dwb_controller/dwb_plugins/src/xy_theta_iterator.cpp
index c319bef4a72..01dab35cb7b 100644
--- a/nav2_dwb_controller/dwb_plugins/src/xy_theta_iterator.cpp
+++ b/nav2_dwb_controller/dwb_plugins/src/xy_theta_iterator.cpp
@@ -38,7 +38,6 @@
 #include <memory>
 #include <string>
 
-#include "nav_2d_utils/parameters.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 
 namespace dwb_plugins
diff --git a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
index c3005dffd6c..7aad657a142 100644
--- a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
+++ b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
@@ -56,28 +56,7 @@ target_link_libraries(path_ops PRIVATE
   ${geometry_msgs_TARGETS}
 )
 
-add_library(tf_help SHARED
-  src/tf_help.cpp
-)
-target_include_directories(tf_help
-  PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
-)
-target_link_libraries(tf_help PUBLIC
-  conversions
-  ${geometry_msgs_TARGETS}
-  ${nav_2d_msgs_TARGETS}
-  rclcpp::rclcpp
-  nav2_ros_common::nav2_ros_common
-  tf2::tf2
-  tf2_geometry_msgs::tf2_geometry_msgs
-  tf2_ros::tf2_ros
-  rclcpp_lifecycle::rclcpp_lifecycle
-  rcl_lifecycle::rcl_lifecycle
-)
-
-install(TARGETS conversions path_ops tf_help
+install(TARGETS conversions path_ops
   EXPORT ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
@@ -101,7 +80,7 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include/${PROJECT_NAME})
-ament_export_libraries(conversions path_ops tf_help)
+ament_export_libraries(conversions path_ops)
 ament_export_dependencies(
   geometry_msgs
   nav_2d_msgs
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
index 35f3ec2018f..3a30fd03050 100644
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
+++ b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/conversions.hpp
@@ -49,10 +49,6 @@ namespace nav_2d_utils
 {
 geometry_msgs::msg::Twist twist2Dto3D(const nav_2d_msgs::msg::Twist2D & cmd_vel_2d);
 nav_2d_msgs::msg::Twist2D twist3Dto2D(const geometry_msgs::msg::Twist & cmd_vel);
-geometry_msgs::msg::PoseStamped poseToPoseStamped(
-  const geometry_msgs::msg::Pose & pose,
-  const std::string & frame, const rclcpp::Time & stamp);
-nav_msgs::msg::Path posesToPath(const std::vector<geometry_msgs::msg::PoseStamped> & poses);
 nav_msgs::msg::Path posesToPath(
   const std::vector<geometry_msgs::msg::Pose> & poses,
   const std::string & frame, const rclcpp::Time & stamp);
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
deleted file mode 100644
index 2f989e71f2f..00000000000
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.hpp
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2017, Locus Robotics
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef NAV_2D_UTILS__ODOM_SUBSCRIBER_HPP_
-#define NAV_2D_UTILS__ODOM_SUBSCRIBER_HPP_
-
-#include <cmath>
-#include <memory>
-#include <mutex>
-#include <string>
-#include "nav_2d_msgs/msg/twist2_d_stamped.hpp"
-#include "nav_msgs/msg/odometry.hpp"
-#include "nav2_ros_common/lifecycle_node.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "nav2_ros_common/node_utils.hpp"
-
-namespace nav_2d_utils
-{
-
-/**
- * @class OdomSubscriber
- * Wrapper for some common odometry operations. Subscribes to the topic with a mutex.
- */
-class OdomSubscriber
-{
-public:
-  /**
-   * @brief Constructor that subscribes to an Odometry topic
-   *
-   * @param nh NodeHandle for creating subscriber
-   * @param default_topic Name of the topic that will be loaded of the odom_topic param is not set.
-   */
-  explicit OdomSubscriber(
-    nav2::LifecycleNode::SharedPtr nh,
-    std::string default_topic = "odom")
-  {
-    nav2::declare_parameter_if_not_declared(
-      nh, "odom_topic", rclcpp::ParameterValue(default_topic));
-
-    std::string odom_topic;
-    nh->get_parameter_or("odom_topic", odom_topic, default_topic);
-    odom_sub_ =
-      nh->create_subscription<nav_msgs::msg::Odometry>(
-      odom_topic,
-      std::bind(&OdomSubscriber::odomCallback, this, std::placeholders::_1));
-  }
-
-  inline nav_2d_msgs::msg::Twist2D getTwist() {return odom_vel_.velocity;}
-  inline nav_2d_msgs::msg::Twist2DStamped getTwistStamped() {return odom_vel_;}
-
-protected:
-  void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg)
-  {
-    // ROS_INFO_ONCE("odom received!");
-    std::lock_guard<std::mutex> lock(odom_mutex_);
-    odom_vel_.header = msg->header;
-    odom_vel_.velocity.x = msg->twist.twist.linear.x;
-    odom_vel_.velocity.y = msg->twist.twist.linear.y;
-    odom_vel_.velocity.theta = msg->twist.twist.angular.z;
-  }
-
-  nav2::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
-  nav_2d_msgs::msg::Twist2DStamped odom_vel_;
-  std::mutex odom_mutex_;
-};
-
-}  // namespace nav_2d_utils
-
-#endif  // NAV_2D_UTILS__ODOM_SUBSCRIBER_HPP_
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/parameters.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/parameters.hpp
deleted file mode 100644
index 09b039487e0..00000000000
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/parameters.hpp
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2017, Locus Robotics
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef NAV_2D_UTILS__PARAMETERS_HPP_
-#define NAV_2D_UTILS__PARAMETERS_HPP_
-
-#include <string>
-#include <memory>
-
-#include "rclcpp/rclcpp.hpp"
-#include "nav2_ros_common/lifecycle_node.hpp"
-#include "nav2_ros_common/node_utils.hpp"
-
-// TODO(crdelsey): Remove when code is re-enabled
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-parameter"
-namespace nav_2d_utils
-{
-
-/**
- * @brief Search for a parameter and load it, or use the default value
- *
- * This templated function shortens a commonly used ROS pattern in which you
- * search for a parameter and get its value if it exists, otherwise returning a default value.
- *
- * @param nh NodeHandle to start the parameter search from
- * @param param_name Name of the parameter to search for
- * @param default_value Value to return if not found
- * @return Value of parameter if found, otherwise the default_value
- */
-template<class param_t>
-param_t searchAndGetParam(
-  const nav2::LifecycleNode::SharedPtr & nh, const std::string & param_name,
-  const param_t & default_value)
-{
-  nav2::declare_parameter_if_not_declared(
-    nh, param_name,
-    rclcpp::ParameterValue(default_value));
-  return nh->get_parameter(param_name).get_value<param_t>();
-}
-
-}  // namespace nav_2d_utils
-#pragma GCC diagnostic pop
-
-#endif  // NAV_2D_UTILS__PARAMETERS_HPP_
diff --git a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/tf_help.hpp b/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/tf_help.hpp
deleted file mode 100644
index 3f5fadcd4aa..00000000000
--- a/nav2_dwb_controller/nav_2d_utils/include/nav_2d_utils/tf_help.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2017, Locus Robotics
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef NAV_2D_UTILS__TF_HELP_HPP_
-#define NAV_2D_UTILS__TF_HELP_HPP_
-
-#include <string>
-#include <memory>
-#include "tf2_ros/buffer.hpp"
-#include "nav_2d_utils/conversions.hpp"
-#include "geometry_msgs/msg/pose_stamped.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-
-namespace nav_2d_utils
-{
-/**
- * @brief Transform a PoseStamped from one frame to another while catching exceptions
- *
- * Also returns immediately if the frames are equal.
- * @param tf Smart pointer to TFListener
- * @param frame Frame to transform the pose into
- * @param in_pose Pose to transform
- * @param out_pose Place to store the resulting transformed pose
- * @return True if successful transform
- */
-bool transformPose(
-  const std::shared_ptr<tf2_ros::Buffer> tf,
-  const std::string frame,
-  const geometry_msgs::msg::PoseStamped & in_pose,
-  geometry_msgs::msg::PoseStamped & out_pose,
-  rclcpp::Duration & transform_tolerance
-);
-
-/**
- * @brief Transform a PoseStamped from one frame to another while catching exceptions
- *
- * Also returns immediately if the frames are equal.
- * @param tf Smart pointer to TFListener
- * @param frame Frame to transform the pose into
- * @param in_pose Pose to transform
- * @param out_pose Place to store the resulting transformed pose
- * @return True if successful transform
- */
-bool transformPose(
-  const std::shared_ptr<tf2_ros::Buffer> tf,
-  const std::string frame,
-  const geometry_msgs::msg::PoseStamped & in_pose,
-  geometry_msgs::msg::PoseStamped & out_pose,
-  rclcpp::Duration & transform_tolerance
-);
-
-}  // namespace nav_2d_utils
-
-#endif  // NAV_2D_UTILS__TF_HELP_HPP_
diff --git a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp b/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
index 4ec9a73fb99..3629e8bb989 100644
--- a/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
+++ b/nav2_dwb_controller/nav_2d_utils/src/conversions.cpp
@@ -72,34 +72,6 @@ nav_2d_msgs::msg::Twist2D twist3Dto2D(const geometry_msgs::msg::Twist & cmd_vel)
   return cmd_vel_2d;
 }
 
-
-geometry_msgs::msg::PoseStamped poseToPoseStamped(
-  const geometry_msgs::msg::Pose & pose_in,
-  const std::string & frame, const rclcpp::Time & stamp)
-{
-  geometry_msgs::msg::PoseStamped pose;
-  pose.header.frame_id = frame;
-  pose.header.stamp = stamp;
-  pose.pose = pose_in;
-  return pose;
-}
-
-nav_msgs::msg::Path posesToPath(const std::vector<geometry_msgs::msg::PoseStamped> & poses)
-{
-  nav_msgs::msg::Path path;
-  if (poses.empty()) {
-    return path;
-  }
-  path.poses.resize(poses.size());
-  path.header.frame_id = poses[0].header.frame_id;
-  path.header.stamp = poses[0].header.stamp;
-  for (unsigned int i = 0; i < poses.size(); i++) {
-    path.poses[i] = poses[i];
-  }
-  return path;
-}
-
-
 nav_msgs::msg::Path posesToPath(
   const std::vector<geometry_msgs::msg::Pose> & poses,
   const std::string & frame, const rclcpp::Time & stamp)
diff --git a/nav2_dwb_controller/nav_2d_utils/src/tf_help.cpp b/nav2_dwb_controller/nav_2d_utils/src/tf_help.cpp
deleted file mode 100644
index 0916cc6a402..00000000000
--- a/nav2_dwb_controller/nav_2d_utils/src/tf_help.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2017, Locus Robotics
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <memory>
-#include <string>
-#include "nav_2d_utils/tf_help.hpp"
-
-namespace nav_2d_utils
-{
-
-bool transformPose(
-  const std::shared_ptr<tf2_ros::Buffer> tf,
-  const std::string frame,
-  const geometry_msgs::msg::PoseStamped & in_pose,
-  geometry_msgs::msg::PoseStamped & out_pose,
-  rclcpp::Duration & transform_tolerance
-)
-{
-  if (in_pose.header.frame_id == frame) {
-    out_pose = in_pose;
-    return true;
-  }
-
-  try {
-    tf->transform(in_pose, out_pose, frame);
-    return true;
-  } catch (tf2::ExtrapolationException & ex) {
-    auto transform = tf->lookupTransform(
-      frame,
-      in_pose.header.frame_id,
-      tf2::TimePointZero
-    );
-    if (
-      (rclcpp::Time(in_pose.header.stamp) - rclcpp::Time(transform.header.stamp)) >
-      transform_tolerance)
-    {
-      RCLCPP_ERROR(
-        rclcpp::get_logger("tf_help"),
-        "Transform data too old when converting from %s to %s",
-        in_pose.header.frame_id.c_str(),
-        frame.c_str()
-      );
-      RCLCPP_ERROR(
-        rclcpp::get_logger("tf_help"),
-        "Data time: %ds %uns, Transform time: %ds %uns",
-        in_pose.header.stamp.sec,
-        in_pose.header.stamp.nanosec,
-        transform.header.stamp.sec,
-        transform.header.stamp.nanosec
-      );
-      return false;
-    } else {
-      tf2::doTransform(in_pose, out_pose, transform);
-      return true;
-    }
-  } catch (tf2::TransformException & ex) {
-    RCLCPP_ERROR(
-      rclcpp::get_logger("tf_help"),
-      "Exception in transformPose: %s",
-      ex.what()
-    );
-    return false;
-  }
-  return false;
-}
-
-}  // namespace nav_2d_utils
diff --git a/nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp b/nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp
index c7f5c502f76..fd7d209d3d7 100644
--- a/nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp
+++ b/nav2_dwb_controller/nav_2d_utils/test/2d_utils_test.cpp
@@ -48,59 +48,55 @@ using nav_2d_utils::posesToPath;
 
 TEST(nav_2d_utils, PosesToPathEmpty)
 {
-  std::vector<geometry_msgs::msg::PoseStamped> poses;
-  nav_msgs::msg::Path path = posesToPath(poses);
+  std::vector<geometry_msgs::msg::Pose> poses;
+  auto node = std::make_shared<nav2::LifecycleNode>("twod_utils_test_node");
+  rclcpp::Time time = node->now();
+  std::string frame = "test_frame";
+
+  nav_msgs::msg::Path path = posesToPath(poses, frame, time);
 
   EXPECT_EQ(path.poses.size(), 0ul);
+  EXPECT_EQ(path.header.frame_id, frame);
+  EXPECT_EQ(path.header.stamp, time);
 }
 
 TEST(nav_2d_utils, PosesToPathNonEmpty)
 {
-  std::vector<geometry_msgs::msg::PoseStamped> poses;
-  geometry_msgs::msg::PoseStamped pose1;
-  rclcpp::Time time1, time2;
   auto node = std::make_shared<nav2::LifecycleNode>("twod_utils_test_node");
-  time1 = node->now();
+  rclcpp::Time time = node->now();
+  std::string frame = "map";
 
   tf2::Quaternion quat1, quat2;
   quat1.setRPY(0, 0, 0.123);
-  pose1.pose.position.x = 1.0;
-  pose1.pose.position.y = 2.0;
-  pose1.pose.orientation.w = quat1.w();
-  pose1.pose.orientation.x = quat1.x();
-  pose1.pose.orientation.y = quat1.y();
-  pose1.pose.orientation.z = quat1.z();
-  pose1.header.stamp = time1;
-  pose1.header.frame_id = "frame1_id";
-
-  geometry_msgs::msg::PoseStamped pose2;
-  pose2.pose.position.x = 4.0;
-  pose2.pose.position.y = 5.0;
   quat2.setRPY(0, 0, 0.987);
-  pose2.pose.orientation.w = quat2.w();
-  pose2.pose.orientation.x = quat2.x();
-  pose2.pose.orientation.y = quat2.y();
-  pose2.pose.orientation.z = quat2.z();
 
-  time2 = node->now();
-  pose2.header.stamp = time2;
-  pose2.header.frame_id = "frame2_id";
+  geometry_msgs::msg::Pose pose1;
+  pose1.position.x = 1.0;
+  pose1.position.y = 2.0;
+  pose1.orientation = tf2::toMsg(quat1);
 
-  poses.push_back(pose1);
-  poses.push_back(pose2);
+  geometry_msgs::msg::Pose pose2;
+  pose2.position.x = 4.0;
+  pose2.position.y = 5.0;
+  pose2.orientation = tf2::toMsg(quat2);
 
-  nav_msgs::msg::Path path = posesToPath(poses);
+  std::vector<geometry_msgs::msg::Pose> poses = {pose1, pose2};
+
+  nav_msgs::msg::Path path = posesToPath(poses, frame, time);
 
   EXPECT_EQ(path.poses.size(), 2ul);
   EXPECT_EQ(path.poses[0].pose.position.x, 1.0);
   EXPECT_EQ(path.poses[0].pose.position.y, 2.0);
-  EXPECT_EQ(path.poses[0].header.stamp, time1);
-  EXPECT_EQ(path.poses[0].header.frame_id, "frame1_id");
   EXPECT_EQ(path.poses[1].pose.position.x, 4.0);
   EXPECT_EQ(path.poses[1].pose.position.y, 5.0);
-  EXPECT_EQ(path.poses[1].header.frame_id, "frame2_id");
 
-  EXPECT_EQ(path.header.stamp, time1);
+  for (const auto & stamped_pose : path.poses) {
+    EXPECT_EQ(stamped_pose.header.frame_id, frame);
+    EXPECT_EQ(stamped_pose.header.stamp, time);
+  }
+
+  EXPECT_EQ(path.header.frame_id, frame);
+  EXPECT_EQ(path.header.stamp, time);
 }
 
 
diff --git a/nav2_dwb_controller/nav_2d_utils/test/CMakeLists.txt b/nav2_dwb_controller/nav_2d_utils/test/CMakeLists.txt
index f0cf339a322..fd861291fca 100644
--- a/nav2_dwb_controller/nav_2d_utils/test/CMakeLists.txt
+++ b/nav2_dwb_controller/nav_2d_utils/test/CMakeLists.txt
@@ -11,6 +11,3 @@ target_include_directories(2d_utils_tests
 
 ament_add_gtest(path_ops_tests path_ops_test.cpp)
 target_link_libraries(path_ops_tests path_ops)
-
-ament_add_gtest(tf_help_tests tf_help_test.cpp)
-target_link_libraries(tf_help_tests tf_help conversions)
diff --git a/nav2_dwb_controller/nav_2d_utils/test/tf_help_test.cpp b/nav2_dwb_controller/nav_2d_utils/test/tf_help_test.cpp
deleted file mode 100644
index 4095567473a..00000000000
--- a/nav2_dwb_controller/nav_2d_utils/test/tf_help_test.cpp
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2018, Wilco Bonestroo
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of the copyright holder nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <memory>
-#include <string>
-
-#include "gtest/gtest.h"
-#include "nav_2d_utils/tf_help.hpp"
-
-TEST(TF_Help, TransformToSelf) {
-  bool result;
-
-  std::shared_ptr<tf2_ros::Buffer> tf;
-  std::string frame = "frame_id";
-  geometry_msgs::msg::PoseStamped in_pose;
-  in_pose.header.frame_id = "frame_id";
-  in_pose.pose.position.x = 1.0;
-  in_pose.pose.position.y = 2.0;
-  in_pose.pose.position.z = 3.0;
-  tf2::Quaternion qt;
-  qt.setRPY(0.5, 1.0, 1.5);
-  in_pose.pose.orientation.w = qt.w();
-  in_pose.pose.orientation.x = qt.x();
-  in_pose.pose.orientation.y = qt.y();
-  in_pose.pose.orientation.z = qt.z();
-
-  geometry_msgs::msg::PoseStamped out_pose;
-  rclcpp::Duration transform_tolerance(0, 500);
-
-  result = nav_2d_utils::transformPose(tf, frame, in_pose, out_pose, transform_tolerance);
-
-  EXPECT_TRUE(result);
-  EXPECT_EQ(out_pose.header.frame_id, "frame_id");
-  EXPECT_EQ(out_pose.pose.position.x, 1.0);
-  EXPECT_EQ(out_pose.pose.position.y, 2.0);
-  EXPECT_EQ(out_pose.pose.position.z, 3.0);
-  EXPECT_EQ(out_pose.pose.orientation.w, qt.w());
-  EXPECT_EQ(out_pose.pose.orientation.x, qt.x());
-  EXPECT_EQ(out_pose.pose.orientation.y, qt.y());
-  EXPECT_EQ(out_pose.pose.orientation.z, qt.z());
-}
-
-TEST(TF_Help, EmptyBuffer) {
-  auto clock = std::make_shared<rclcpp::Clock>(RCL_ROS_TIME);
-  auto buffer = std::make_shared<tf2_ros::Buffer>(clock);
-
-  std::string frame = "frame_id";
-  geometry_msgs::msg::PoseStamped in_pose;
-  in_pose.header.frame_id = "other_frame_id";
-  in_pose.pose.position.x = 1.0;
-  in_pose.pose.position.y = 2.0;
-  in_pose.pose.position.z = 3.0;
-  tf2::Quaternion qt;
-  qt.setRPY(0.5, 1.0, 1.5);
-  in_pose.pose.orientation.w = qt.w();
-  in_pose.pose.orientation.x = qt.x();
-  in_pose.pose.orientation.y = qt.y();
-  in_pose.pose.orientation.z = qt.z();
-
-  geometry_msgs::msg::PoseStamped out_pose;
-  rclcpp::Duration transform_tolerance(0, 500);
-
-  bool result;
-  result = nav_2d_utils::transformPose(buffer, frame, in_pose, out_pose, transform_tolerance);
-
-  EXPECT_FALSE(result);
-}
diff --git a/nav2_graceful_controller/CMakeLists.txt b/nav2_graceful_controller/CMakeLists.txt
index fc8859860b3..d9720ca6401 100644
--- a/nav2_graceful_controller/CMakeLists.txt
+++ b/nav2_graceful_controller/CMakeLists.txt
@@ -9,7 +9,6 @@ find_package(nav2_common REQUIRED)
 find_package(nav2_core REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_util REQUIRED)
-find_package(nav_2d_utils REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -58,7 +57,6 @@ target_link_libraries(${library_name} PUBLIC
   nav2_ros_common::nav2_ros_common
   nav2_util::nav2_util_core
   nav2_costmap_2d::nav2_costmap_2d_core
-  nav_2d_utils::tf_help
   ${nav_msgs_TARGETS}
   pluginlib::pluginlib
   rclcpp::rclcpp
@@ -104,7 +102,6 @@ ament_export_dependencies(
   nav2_core
   nav2_util
   nav2_costmap_2d
-  nav_2d_utils
   nav_msgs
   pluginlib
   rclcpp
diff --git a/nav2_graceful_controller/include/nav2_graceful_controller/path_handler.hpp b/nav2_graceful_controller/include/nav2_graceful_controller/path_handler.hpp
index aaa64f1bb62..a24a84c2228 100644
--- a/nav2_graceful_controller/include/nav2_graceful_controller/path_handler.hpp
+++ b/nav2_graceful_controller/include/nav2_graceful_controller/path_handler.hpp
@@ -35,7 +35,7 @@ class PathHandler
    * @brief Constructor for nav2_graceful_controller::PathHandler
    */
   PathHandler(
-    tf2::Duration transform_tolerance,
+    double transform_tolerance,
     std::shared_ptr<tf2_ros::Buffer> tf,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros);
 
@@ -71,7 +71,7 @@ class PathHandler
   nav_msgs::msg::Path getPlan() {return global_plan_;}
 
 protected:
-  rclcpp::Duration transform_tolerance_{0, 0};
+  double transform_tolerance_{0};
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
   nav_msgs::msg::Path global_plan_;
diff --git a/nav2_graceful_controller/package.xml b/nav2_graceful_controller/package.xml
index f162f3f0ed3..98b6e1e257a 100644
--- a/nav2_graceful_controller/package.xml
+++ b/nav2_graceful_controller/package.xml
@@ -16,7 +16,6 @@
   <depend>nav2_core</depend>
   <depend>nav2_costmap_2d</depend>
   <depend>nav2_util</depend>
-  <depend>nav_2d_utils</depend>
   <depend>nav_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
diff --git a/nav2_graceful_controller/src/graceful_controller.cpp b/nav2_graceful_controller/src/graceful_controller.cpp
index fb0010698f4..0706c86378d 100644
--- a/nav2_graceful_controller/src/graceful_controller.cpp
+++ b/nav2_graceful_controller/src/graceful_controller.cpp
@@ -48,7 +48,7 @@ void GracefulController::configure(
 
   // Handles global path transformations
   path_handler_ = std::make_unique<PathHandler>(
-    tf2::durationFromSec(params_->transform_tolerance), tf_buffer_, costmap_ros_);
+    params_->transform_tolerance, tf_buffer_, costmap_ros_);
 
   // Handles the control law to generate the velocity commands
   control_law_ = std::make_unique<SmoothControlLaw>(
diff --git a/nav2_graceful_controller/src/path_handler.cpp b/nav2_graceful_controller/src/path_handler.cpp
index 9dbfc291f8d..b60b4a874f0 100644
--- a/nav2_graceful_controller/src/path_handler.cpp
+++ b/nav2_graceful_controller/src/path_handler.cpp
@@ -22,7 +22,7 @@
 #include "nav2_core/controller_exceptions.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 #include "nav2_util/geometry_utils.hpp"
-#include "nav_2d_utils/tf_help.hpp"
+#include "nav2_util/robot_utils.hpp"
 #include "nav2_graceful_controller/path_handler.hpp"
 
 namespace nav2_graceful_controller
@@ -31,7 +31,7 @@ namespace nav2_graceful_controller
 using nav2_util::geometry_utils::euclidean_distance;
 
 PathHandler::PathHandler(
-  tf2::Duration transform_tolerance,
+  double transform_tolerance,
   std::shared_ptr<tf2_ros::Buffer> tf,
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 : transform_tolerance_(transform_tolerance), tf_buffer_(tf), costmap_ros_(costmap_ros)
@@ -49,8 +49,8 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
 
   // Let's get the pose of the robot in the frame of the plan
   geometry_msgs::msg::PoseStamped robot_pose;
-  if (!nav_2d_utils::transformPose(
-      tf_buffer_, global_plan_.header.frame_id, pose, robot_pose,
+  if (!nav2_util::transformPoseInTargetFrame(
+      pose, robot_pose, *tf_buffer_, global_plan_.header.frame_id,
       transform_tolerance_))
   {
     throw nav2_core::ControllerTFError("Unable to transform robot pose into global plan's frame");
@@ -88,9 +88,9 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
       stamped_pose.header.frame_id = global_plan_.header.frame_id;
       stamped_pose.header.stamp = robot_pose.header.stamp;
       stamped_pose.pose = global_plan_pose.pose;
-      if (!nav_2d_utils::transformPose(
-          tf_buffer_, costmap_ros_->getBaseFrameID(), stamped_pose,
-          transformed_pose, transform_tolerance_))
+      if (!nav2_util::transformPoseInTargetFrame(
+          stamped_pose, transformed_pose, *tf_buffer_,
+          costmap_ros_->getBaseFrameID(), transform_tolerance_))
       {
         throw nav2_core::ControllerTFError("Unable to transform plan pose into local frame");
       }
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp
index 544a98467d9..4233c91ef28 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/tools/path_handler.hpp
@@ -98,17 +98,6 @@ class PathHandler
   geometry_msgs::msg::PoseStamped getTransformedGoal(const builtin_interfaces::msg::Time & stamp);
 
 protected:
-  /**
-    * @brief Transform a pose to another frame
-    * @param frame Frame to transform to
-    * @param in_pose Input pose
-    * @param out_pose Output pose
-    * @return Bool if successful
-    */
-  bool transformPose(
-    const std::string & frame, const geometry_msgs::msg::PoseStamped & in_pose,
-    geometry_msgs::msg::PoseStamped & out_pose) const;
-
   /**
     * @brief Get largest dimension of costmap (radially)
     * @return Max distance from center of costmap to edge
diff --git a/nav2_mppi_controller/src/path_handler.cpp b/nav2_mppi_controller/src/path_handler.cpp
index 93593982c5c..55931f6bc62 100644
--- a/nav2_mppi_controller/src/path_handler.cpp
+++ b/nav2_mppi_controller/src/path_handler.cpp
@@ -17,6 +17,7 @@
 #include "nav2_mppi_controller/tools/path_handler.hpp"
 #include "nav2_mppi_controller/tools/utils.hpp"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
+#include "nav2_util/robot_utils.hpp"
 
 namespace mppi
 {
@@ -85,7 +86,8 @@ PathHandler::getGlobalPlanConsideringBoundsInCostmapFrame(
     geometry_msgs::msg::PoseStamped costmap_plan_pose;
     global_plan_pose->header.stamp = global_pose.header.stamp;
     global_plan_pose->header.frame_id = global_plan_.header.frame_id;
-    transformPose(costmap_->getGlobalFrameID(), *global_plan_pose, costmap_plan_pose);
+    nav2_util::transformPoseInTargetFrame(*global_plan_pose, costmap_plan_pose, *tf_buffer_,
+        costmap_->getGlobalFrameID(), transform_tolerance_);
 
     // Check if pose is inside the costmap
     if (!costmap_->getCostmap()->worldToMap(
@@ -109,7 +111,9 @@ geometry_msgs::msg::PoseStamped PathHandler::transformToGlobalPlanFrame(
   }
 
   geometry_msgs::msg::PoseStamped robot_pose;
-  if (!transformPose(global_plan_up_to_inversion_.header.frame_id, pose, robot_pose)) {
+  if (!nav2_util::transformPoseInTargetFrame(pose, robot_pose, *tf_buffer_,
+      global_plan_up_to_inversion_.header.frame_id, transform_tolerance_))
+  {
     throw nav2_core::ControllerTFError(
             "Unable to transform robot pose into global plan's frame");
   }
@@ -142,27 +146,6 @@ nav_msgs::msg::Path PathHandler::transformPath(
   return transformed_plan;
 }
 
-bool PathHandler::transformPose(
-  const std::string & frame, const geometry_msgs::msg::PoseStamped & in_pose,
-  geometry_msgs::msg::PoseStamped & out_pose) const
-{
-  if (in_pose.header.frame_id == frame) {
-    out_pose = in_pose;
-    return true;
-  }
-
-  try {
-    tf_buffer_->transform(
-      in_pose, out_pose, frame,
-      tf2::durationFromSec(transform_tolerance_));
-    out_pose.header.frame_id = frame;
-    return true;
-  } catch (tf2::TransformException & ex) {
-    RCLCPP_ERROR(logger_, "Exception in transformPose: %s", ex.what());
-  }
-  return false;
-}
-
 double PathHandler::getMaxCostmapDist()
 {
   const auto & costmap = costmap_->getCostmap();
@@ -196,7 +179,9 @@ geometry_msgs::msg::PoseStamped PathHandler::getTransformedGoal(
     throw nav2_core::ControllerTFError("Goal pose has an empty frame_id");
   }
   geometry_msgs::msg::PoseStamped transformed_goal;
-  if (!transformPose(costmap_->getGlobalFrameID(), goal, transformed_goal)) {
+  if (!nav2_util::transformPoseInTargetFrame(goal, transformed_goal, *tf_buffer_,
+      costmap_->getGlobalFrameID(), transform_tolerance_))
+  {
     throw nav2_core::ControllerTFError("Unable to transform goal pose into costmap frame");
   }
   return transformed_goal;
diff --git a/nav2_mppi_controller/test/path_handler_test.cpp b/nav2_mppi_controller/test/path_handler_test.cpp
index eb0bd140c43..e0f17e48411 100644
--- a/nav2_mppi_controller/test/path_handler_test.cpp
+++ b/nav2_mppi_controller/test/path_handler_test.cpp
@@ -46,13 +46,6 @@ class PathHandlerWrapper : public PathHandler
     return getGlobalPlanConsideringBoundsInCostmapFrame(pose);
   }
 
-  bool transformPoseWrapper(
-    const std::string & frame, const geometry_msgs::msg::PoseStamped & in_pose,
-    geometry_msgs::msg::PoseStamped & out_pose) const
-  {
-    return transformPose(frame, in_pose, out_pose);
-  }
-
   geometry_msgs::msg::PoseStamped transformToGlobalPlanFrameWrapper(
     const geometry_msgs::msg::PoseStamped & pose)
   {
@@ -180,12 +173,10 @@ TEST(PathHandlerTests, TestTransforms)
     path.poses[i].header.frame_id = "map";
   }
 
-  geometry_msgs::msg::PoseStamped robot_pose, output_pose;
+  geometry_msgs::msg::PoseStamped robot_pose;
   robot_pose.header.frame_id = "odom";
   robot_pose.pose.position.x = 2.5;
 
-  EXPECT_TRUE(handler.transformPoseWrapper("map", robot_pose, output_pose));
-  EXPECT_EQ(output_pose.pose.position.x, 2.5);
 
   EXPECT_THROW(handler.transformToGlobalPlanFrameWrapper(robot_pose), std::runtime_error);
   handler.setPath(path);
diff --git a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp
index cc8b7915330..135a304dc26 100644
--- a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp
+++ b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp
@@ -43,7 +43,7 @@ class PathHandler
    * @brief Constructor for nav2_regulated_pure_pursuit_controller::PathHandler
    */
   PathHandler(
-    tf2::Duration transform_tolerance,
+    double transform_tolerance,
     std::shared_ptr<tf2_ros::Buffer> tf,
     std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros);
 
@@ -65,18 +65,6 @@ class PathHandler
     const geometry_msgs::msg::PoseStamped & pose,
     double max_robot_pose_search_dist, bool reject_unit_path = false);
 
-  /**
-   * @brief Transform a pose to another frame.
-   * @param frame Frame ID to transform to
-   * @param in_pose Pose input to transform
-   * @param out_pose transformed output
-   * @return bool if successful
-   */
-  bool transformPose(
-    const std::string frame,
-    const geometry_msgs::msg::PoseStamped & in_pose,
-    geometry_msgs::msg::PoseStamped & out_pose) const;
-
   void setPlan(const nav_msgs::msg::Path & path) {global_plan_ = path;}
 
   nav_msgs::msg::Path getPlan() {return global_plan_;}
@@ -89,7 +77,7 @@ class PathHandler
   double getCostmapMaxExtent() const;
 
   rclcpp::Logger logger_ {rclcpp::get_logger("RPPPathHandler")};
-  tf2::Duration transform_tolerance_;
+  double transform_tolerance_;
   std::shared_ptr<tf2_ros::Buffer> tf_;
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros_;
   nav_msgs::msg::Path global_plan_;
diff --git a/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp b/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp
index 1fcc39b7e37..c91bb8dc8f7 100644
--- a/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/path_handler.cpp
@@ -23,6 +23,7 @@
 #include "nav2_core/controller_exceptions.hpp"
 #include "nav2_ros_common/node_utils.hpp"
 #include "nav2_util/geometry_utils.hpp"
+#include "nav2_util/robot_utils.hpp"
 
 namespace nav2_regulated_pure_pursuit_controller
 {
@@ -30,7 +31,7 @@ namespace nav2_regulated_pure_pursuit_controller
 using nav2_util::geometry_utils::euclidean_distance;
 
 PathHandler::PathHandler(
-  tf2::Duration transform_tolerance,
+  double transform_tolerance,
   std::shared_ptr<tf2_ros::Buffer> tf,
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros)
 : transform_tolerance_(transform_tolerance), tf_(tf), costmap_ros_(costmap_ros)
@@ -60,7 +61,9 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
 
   // let's get the pose of the robot in the frame of the plan
   geometry_msgs::msg::PoseStamped robot_pose;
-  if (!transformPose(global_plan_.header.frame_id, pose, robot_pose)) {
+  if (!nav2_util::transformPoseInTargetFrame(pose, robot_pose, *tf_, global_plan_.header.frame_id,
+      transform_tolerance_))
+  {
     throw nav2_core::ControllerTFError("Unable to transform robot pose into global plan's frame");
   }
 
@@ -101,7 +104,9 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
       stamped_pose.header.frame_id = global_plan_.header.frame_id;
       stamped_pose.header.stamp = robot_pose.header.stamp;
       stamped_pose.pose = global_plan_pose.pose;
-      if (!transformPose(costmap_ros_->getBaseFrameID(), stamped_pose, transformed_pose)) {
+      if (!nav2_util::transformPoseInTargetFrame(stamped_pose, transformed_pose, *tf_,
+        costmap_ros_->getBaseFrameID(), transform_tolerance_))
+      {
         throw nav2_core::ControllerTFError("Unable to transform plan pose into local frame");
       }
       transformed_pose.pose.position.z = 0.0;
@@ -128,24 +133,4 @@ nav_msgs::msg::Path PathHandler::transformGlobalPlan(
   return transformed_plan;
 }
 
-bool PathHandler::transformPose(
-  const std::string frame,
-  const geometry_msgs::msg::PoseStamped & in_pose,
-  geometry_msgs::msg::PoseStamped & out_pose) const
-{
-  if (in_pose.header.frame_id == frame) {
-    out_pose = in_pose;
-    return true;
-  }
-
-  try {
-    tf_->transform(in_pose, out_pose, frame, transform_tolerance_);
-    out_pose.header.frame_id = frame;
-    return true;
-  } catch (tf2::TransformException & ex) {
-    RCLCPP_ERROR(logger_, "Exception in transformPose: %s", ex.what());
-  }
-  return false;
-}
-
 }  // namespace nav2_regulated_pure_pursuit_controller
diff --git a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
index d8153ea16bd..1bd12ae3a06 100644
--- a/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
@@ -61,7 +61,7 @@ void RegulatedPurePursuitController::configure(
 
   // Handles global path transformations
   path_handler_ = std::make_unique<PathHandler>(
-    tf2::durationFromSec(params_->transform_tolerance), tf_, costmap_ros_);
+    params_->transform_tolerance, tf_, costmap_ros_);
 
   // Checks for imminent collisions
   collision_checker_ = std::make_unique<CollisionChecker>(node, costmap_ros_, params_);
diff --git a/nav2_smoother/CMakeLists.txt b/nav2_smoother/CMakeLists.txt
index 465cadd670d..5831d10189c 100644
--- a/nav2_smoother/CMakeLists.txt
+++ b/nav2_smoother/CMakeLists.txt
@@ -9,7 +9,6 @@ find_package(nav2_core REQUIRED)
 find_package(nav2_costmap_2d REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(nav2_util REQUIRED)
-find_package(nav_2d_utils REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
@@ -45,8 +44,6 @@ target_link_libraries(${library_name} PUBLIC
   nav2_ros_common::nav2_ros_common
 )
 target_link_libraries(${library_name} PRIVATE
-  nav_2d_utils::conversions
-  nav_2d_utils::tf_help
   rclcpp_components::component
   tf2::tf2
 )
diff --git a/nav2_smoother/package.xml b/nav2_smoother/package.xml
index c2983d916ce..339bdeb5586 100644
--- a/nav2_smoother/package.xml
+++ b/nav2_smoother/package.xml
@@ -17,7 +17,6 @@
   <depend>nav2_costmap_2d</depend>
   <depend>nav2_msgs</depend>
   <depend>nav2_util</depend>
-  <depend>nav_2d_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
diff --git a/nav2_smoother/src/nav2_smoother.cpp b/nav2_smoother/src/nav2_smoother.cpp
index eb852c1eb52..66e3fd926ff 100644
--- a/nav2_smoother/src/nav2_smoother.cpp
+++ b/nav2_smoother/src/nav2_smoother.cpp
@@ -23,8 +23,6 @@
 #include "nav2_core/smoother_exceptions.hpp"
 #include "nav2_smoother/nav2_smoother.hpp"
 #include "nav2_ros_common/node_utils.hpp"
-#include "nav_2d_utils/conversions.hpp"
-#include "nav_2d_utils/tf_help.hpp"
 #include "tf2_ros/create_timer_ros.hpp"
 
 using namespace std::chrono_literals;
diff --git a/nav2_util/src/robot_utils.cpp b/nav2_util/src/robot_utils.cpp
index 912d73d0859..d333df9cf14 100644
--- a/nav2_util/src/robot_utils.cpp
+++ b/nav2_util/src/robot_utils.cpp
@@ -50,6 +50,11 @@ bool transformPoseInTargetFrame(
 {
   static rclcpp::Logger logger = rclcpp::get_logger("transformPoseInTargetFrame");
 
+  if(input_pose.header.frame_id == target_frame) {
+    transformed_pose = input_pose;
+    return true;
+  }
+
   try {
     transformed_pose = tf_buffer.transform(
       input_pose, target_frame,