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I believe the message you see indicates either (as it states) the robot is not powered on meaning you should try pushing the large "Clean" button, or the baud rate is not correct.

See Create 2 OI Spec for information regarding baud. It could be 115200 (I believe the driver's default) or 19200. You can try a different rate by adding a parameter to the launch file ca_driver/launch/create_2.launch:

<param name="baud" value="19200" />

Good luck.

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