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As @dornhege said, there is no standard way.

There are definite advantages to starting with a working non-ROS driver. Adding the necessary ROS initialization and message creation is generally straightforward.

However, if this driver is intended for widespread use, I would worry about the weight of the Qt dependencies. We generally like to minimize driver dependencies, so they can run on "headless" controllers with limited resources. That goal is not always achieved, but we do try.

I have written a couple of drivers for devices with UDP or TCP interfaces. For them, wrapping the raw C interfaces in an ad-Hoc C++ class worked fine. There are probably good light-weight C++ socket classes available, but I am not familiar with any.