Transform this into an extendable template.

[firstprayer]

From my experience, extending this driver is not difficult. If I need more data, all I need to do is to define more fields in the message, add some very trivial code, and it works. So, reading more data is not a problem.

But, what if someone what less data? Transform more data clearly make it less efficient, under the case where only very simple data is needed.

There're two ways, perhaps:

1. Make the module configurable. That is, the user can configure what input he needs
2. Or, in a simpler way, just provide the driver as a template/skeleton, which only provides the simplest data. At the mean time, the actual user of the driver can easily add new data input by making very few modifications.

I actually recommend the latter approach. The basic idea is like https://github.com/angular/angular-seed

Let me know the your comments on this idea :)

[130s]

@firstprayer Though without taking a deeper look, your idea sounds interesting, and probably worth asking in more higher level community, like drivers SIG.

Just from curiosity for Leap driver, do you have particular types of data you want to receive/omit?

Also, speaking of the performance I just opened #14 for the configurable ROS message frequency.