Being a relative new topic, there is not any canonical rule on the matter you ask for, and I think it won't be because it's a matter of preference, which in the end does not affects either user experience and app behavior.
Having said that, and being a regular service worker user, I recommend to enable sw's during development.
- You have to get rid of the caches by regularly cleaning local storage in order to check updates on your scripts.
- Server side you have to properly enable header responses, in order to catch any possible server error, by it's proper response. That is a de facto rule while developing. Locally you can catch error messages, 500, 404, 200, whatever error you get in the devTools.
- Check the network transit on devTools: you can check any server response.
- Catch service worker events responses. Catch all, installation, activation, fetching. all.
Finally, yes enable service workers while developing, if not, you may be missing some bugged behavior associated with them. And work with devTools, it's imperative in the way it makes you gazillion times more productive. DevTools is much more than just the console, here is a good starting point.
And don't forget to read MDN documentation.