Common C++ utility libraries for ROS 2 nodes.
| Library | CMake target | Description |
|---|---|---|
| common | hatchbed_common::common |
Parameter handler, simple profiler |
| logging | hatchbed_common::logging |
fmt-based logging macros and message formatters |
| transforms | hatchbed_common::transforms |
Pose buffer with interpolation, covariance rotation, SE(3) conversion; ReframeOdom and TfReroot composable nodes |
| odometry | hatchbed_common::odometry |
ImuToTwist, OdomTfBroadcast, OdomToTwist, VelocitySensorMux composable nodes |
| pointcloud | hatchbed_common::pointcloud |
PointCloud2 iterators, transforms, composable nodes |
- 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
- Transform Utilities — Time-indexed pose buffer with LERP/SLERP interpolation, covariance rotation, SE(3) conversion, ReframeOdom and TfReroot nodes
- Odometry Utilities — ImuToTwist, OdomTfBroadcast, OdomToTwist, and VelocitySensorMux composable nodes
- 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