For the topic, usually no.
You'll need 3 types of creeps:
-creeps to harvest energies
-creeps to defend others and kills the invaders
-creeps to repair the structures (if built), especially the containers
Due to all these requirements (and, of course, you'll need to have a high-level controller to spawn all that!), I personally think it's not a good choice. But, the minerals and sometimes the invader colony's resources are worth.
BTW, not having controllers makes actually contributing structures important for defending (i.e, towers) to these rooms impossible.
The wisest choice I think is to build attackers and healers, and renew them in the nearest controlled room. Instead of simply harvesting the energy resources, I'd recommend you to use up all the resources, including the minerals, the invader's tombstones, etc. Also, remember that invader cores might spawn at anytime, so don't forget to write codes for destroying them!
Lastly, NEVER BUILD ROADS IN ANY UNCLAIMED ROOMS
