README

hatchbed_common

Common C++ utility libraries for ROS 2 nodes.

Libraries

Library	CMake target	Description
common	hatchbed_common::common	Parameter handler, simple profiler
logging	hatchbed_common::logging	fmt-based logging macros and message formatters
localization	hatchbed_common::localization	Pose buffer with interpolation, covariance rotation; ImuToTwist, OdomTfBroadcast, OdomToTwist, ReframeOdom, TfReroot, TwistMux composable nodes
pointcloud	hatchbed_common::pointcloud	PointCloud2 iterators, transforms, composable nodes

Documentation

• Parameter Utilities — Declarative ROS 2 parameter management with dynamic reconfigure support

• Logging Utilities — fmt-style logging macros, default logger, and message formatters for geometry, Eigen, TF2, and sensor types

• Localization Utilities — Time-indexed pose buffer with LERP/SLERP interpolation and covariance rotation helpers

• Point Cloud Utilities — Type-safe field/point iterators, cloud creation, rigid transform and motion deskew, CropBox/CropRadius/MergePointClouds nodes

• Profiling Utilities — Hierarchical RAII timing profiler with rolling averages and thread-local storage