definitely worth it to do yourself. Don't know where you're getting your RPS kit from, but I got all 4 corners from rotorpros for $380 shipped, shelled out another $20 for brake fluid, and took my time doing the replacement right - all said and done, 4 hours on a saturday late morning to early afternoon, and I have the stopping power back.

My brake fluid looked like coffee coming out, was almost definitely original (66k miles/5 years)

Total total invested:

Rotors, Pads, Sensors - $380 from Rotorpros
DOT4 Typ200 Fluid - 2*1L $23.48 from Amazon
2 Jack Stands - $40 (paid for themselves many times over)
Ratcheting Torque Wrench with 17mm bit - $37 (paid for itself many times over) (82ft-lb snug on the lugs!)
Ratcheting wrench with 10/11/13/15?mm bit - should already be in your toolkit! Forget which bit was used on the caliper to knuckle bolts, thinking 15...
6mm Allen Key - should already be in your toolkit - $1?
Rustbuster - $6 for an enormous can I've used on probably at least a dozen jobs and not even halfway to empty yet
Rubber mallet - should already be in your toolkit, maybe $10 from the hardware store
If you're lazy like me, caliper piston pusher tool - $8 at Vatozone
2ft of 1/4" clear tubing - $1?
Drain Pan/catch can, funnel (fluid handling) $10 at Vatozone


$500 investment all said and done, and you'll have more tools at your disposal...