I would take it eventually but you can certainly delay it until about 30, you'll want it if you get other toggles like tough, leadership or focused accuracy.
thePhilosopher Martial Arts/Regen/Fire Scrapper
theRegulator Empathy/Energy/Soul Defender
Total Inertia Ice Blast/Kinetics/Psy Corruptor
Total Inferno Ice Blast/Thermal/Leviathan Corruptor
You can do well without them but I have them planned for my regen.
OP
More less is it worth taking the stamina and health power pools with a regen scrapper?