It certainly doesn't hurt liquidity. There is, in principle, always someone who wants to trade with me, and the increased volume may make price-discovery a little more accurate.
When I place a limit order, I don't mind at all if someone has managed to front-run my order and sell it to me at the price I set. I got the thing I wanted to buy at the price I wanted to pay.
HFT is only troublesome if you play with fire -- market orders. The price you see may not be the price you get with a market order, as the market can do irrational things or front-run you. That risk is blunted entirely by limit orders. Your order might not fill, but when it does fill, it will only fill at or better than the price you asked.