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turtlebot@turtlebot2:~$ ls -l /dev/ttyUSB1
crw-rw---- 1 root dialout 188, 1 2012-01-31 11:17 /dev/ttyUSB1
turtlebot@turtlebot2:~$ id -a
uid=1000(turtlebot) gid=1000(turtlebot) groups=27(sudo),44(video),1000(turtlebot)
turtlebot@turtlebot2:~$ ls -l /dev/ttyUSB1
/dev/ttyUSB*
crw-rw-rw- 1 root turtlebot 188, 0 2012-01-31 11:22 /dev/ttyUSB0
crw-rw---- 1 root dialout  188, 1 2012-01-31 11:17 /dev/ttyUSB1
turtlebot@turtlebot2:~$ id -a
uid=1000(turtlebot) gid=1000(turtlebot) groups=27(sudo),44(video),1000(turtlebot)
turtlebot@turtlebot2:~$ ls -l /dev/ttyUSB*
crw-rw-rw- 1 root turtlebot 188, 0 2012-01-31 11:22 /dev/ttyUSB0
crw-rw---- 1 root dialout   188, 1 2012-01-31 11:17 /dev/ttyUSB1
turtlebot@turtlebot2:~$ id -a
uid=1000(turtlebot) gid=1000(turtlebot) groups=27(sudo),44(video),1000(turtlebot)

obviously I don't have problems with ttyUSB0 when connected to the roomba, but I do have when I connect my xsense_mti to ttyUSB0, the same problem than in ttyUSB1.