Is it worth it to try and refill Canon ink cartridges?

I have an MP830 that uses the 5 ink setup—black (text), black (graphic), cyan, magenta, yellow. A five pack (one of each) is $60 at Costco. I’ve never refilled ink cartridges before, although I’ve heard it can be messy. Also the newer Canon cartridges have some kind of chip or sensor on them, which may or may not prevent a refill from working. I don’t know. Any suggestions?