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This build failure is in the tests, which aren't critical to building the nav2_util package. Comment out the three lines configuring the broken test_actions.cpp test in nav2_util/test/CMakeLists.txt and try again. (I actually haven't tried this repo, but fixed a similar issue in the ros-controls/realtime_tools repo; it's possible this isn't the only issue.)

This problem actually originates in a maze of little problems; here's a summary and links to the gory details:

• The compiler error is a result of the fibonacci action headers in the ros-foxy-test-msgs Debian package being generated by a newer version of the rosidl_runtime_cpp ROS package (v. 1.1.0+) than the actual ros-foxy-rosidl-runtime-cpp package currently shipped in Foxy (v. 1.0.1)
• It's a miracle the fibonacci action even exists in the ros-foxy-test-msgs v. 1.0.0 package, given that the now-obsolete action was removed from the test_msgs source in git tag 0.7.2
• Now there are issues in the ros-planning/navigation2 repo and ros-controls/realtime_tools repo noting that the obsolete action needs to be removed in ROS2 branches to avoid build failures