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It is a bit hard to follow. As best I can tell, driver_base implements three states:

Closed: not connected to the device.
Opened: device is open, but not streaming data.
Running: device is streaming data.

There is some confusion about the names: some comments refer to the Opened state as Stopped (following doStop()), but I think they the same.

The dynamic reconfigure parameters are coded with a bit mask, indicating what state changes are necessary for updating each parameter. That is a useful idea, which can easily be implemented without using driver_base explicitly.

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