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Is there any benefit to a driver node based on driver_base package

Hi,

I'm using a customized 2D laser range finder (not SICK/HOKUYO). This laser range finder has its own protocol so I must write my own driver node to get the 2D scan and publish it in "sensor_msgs/LaserScan".

I'm wondering if I should write my own driver node based on "driver_base" package, like "hokuyo_node" package. Is there any benefit to use the "driver_base" package?

Thanks.

Is there any benefit to a driver node based on driver_base package

Hi,

I'm using a customized 2D laser range finder (not SICK/HOKUYO). This laser range finder has its own protocol so I must write my own driver node to get the 2D scan and publish it in "sensor_msgs/LaserScan".

I'm wondering if I should write my own driver node based on "driver_base" package, like "hokuyo_node" package. Is there any benefit to use the "driver_base" package?

Thanks.