diff --git a/common/time_util.c b/common/time_util.c
new file mode 100644
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--- /dev/null
+++ b/common/time_util.c
@@ -0,0 +1,162 @@
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. 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.
+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 OWNER 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.
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+
+#include <stdlib.h>
+#include <math.h>
+#include "time_util.h"
+
+struct timeutil_rest
+{
+    int64_t acc_time;
+    int64_t start_time;
+};
+
+timeutil_rest_t *timeutil_rest_create()
+{
+    timeutil_rest_t *rest = calloc(1, sizeof(timeutil_rest_t));
+    return rest;
+}
+
+void timeutil_rest_destroy(timeutil_rest_t *rest)
+{
+    free(rest);
+}
+
+int64_t utime_now() // blacklist-ignore
+{
+    struct timeval tv;
+    gettimeofday (&tv, NULL); // blacklist-ignore
+    return (int64_t) tv.tv_sec * 1000000 + tv.tv_usec;
+}
+
+int64_t utime_get_seconds(int64_t v)
+{
+    return v/1000000;
+}
+
+int64_t utime_get_useconds(int64_t v)
+{
+    return v%1000000;
+}
+
+void utime_to_timeval(int64_t v, struct timeval *tv)
+{
+    tv->tv_sec  = (time_t) utime_get_seconds(v);
+    tv->tv_usec = (suseconds_t) utime_get_useconds(v);
+}
+
+void utime_to_timespec(int64_t v, struct timespec *ts)
+{
+    ts->tv_sec  = (time_t) utime_get_seconds(v);
+    ts->tv_nsec = (suseconds_t) utime_get_useconds(v)*1000;
+}
+
+int32_t timeutil_usleep(int64_t useconds)
+{
+#ifdef _WIN32
+    Sleep(useconds/1000);
+    return 0;
+#else
+    // unistd.h function, but usleep is obsoleted in POSIX.1-2008.
+    // TODO: Eventually, rewrite this to use nanosleep
+    return usleep(useconds);
+#endif
+}
+
+uint32_t timeutil_sleep(unsigned int seconds)
+{
+#ifdef _WIN32
+    Sleep(seconds*1000);
+    return 0;
+#else
+    // unistd.h function
+    return sleep(seconds);
+#endif
+}
+
+int32_t timeutil_sleep_hz(timeutil_rest_t *rest, double hz)
+{
+    int64_t max_delay = 1000000L/hz;
+    int64_t curr_time = utime_now();
+    int64_t diff = curr_time - rest->start_time;
+    int64_t delay = max_delay - diff;
+    if (delay < 0) delay = 0;
+
+    int32_t ret = timeutil_usleep(delay);
+    rest->start_time = utime_now();
+
+    return ret;
+}
+
+void timeutil_timer_reset(timeutil_rest_t *rest)
+{
+    rest->start_time = utime_now();
+    rest->acc_time = 0;
+}
+
+void timeutil_timer_start(timeutil_rest_t *rest)
+{
+    rest->start_time = utime_now();
+}
+
+void timeutil_timer_stop(timeutil_rest_t *rest)
+{
+    int64_t curr_time = utime_now();
+    int64_t diff = curr_time - rest->start_time;
+
+    rest->acc_time += diff;
+}
+
+bool timeutil_timer_timeout(timeutil_rest_t *rest, double timeout_s)
+{
+    int64_t timeout_us = (int64_t)(1000000L*timeout_s);
+    return rest->acc_time > timeout_us;
+}
+
+int64_t time_util_hhmmss_ss_to_utime(double time)
+{
+    int64_t utime = 0;
+
+    int itime = ((int) time);
+
+    double seconds = fmod(time, 100.0);
+    uint8_t minutes = (itime % 10000) / 100;
+    uint8_t hours =  itime / 10000;
+
+    utime += seconds *   100;
+    utime += minutes *  6000;
+    utime += hours   *360000;
+
+    utime *= 10000;
+
+    return utime;
+}
+
+int64_t timeutil_ms_to_us(int32_t ms)
+{
+    return ((int64_t) ms) * 1000;
+}