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I've contacted iRobot in the past and at the time firmware version 3.2.6 was considered old, containing a few bugs. But the known bugs are not critical and should not affect the operation of create_autonomy. They were reluctant to help me upgrade the firmware unless it was absolutely necessary. I believe it may involve them sending you a proprietary USB device to facilitate the upgrade. Have you confirmed that your robot has firmware version lower than 3.2.6? Chances are it is of equivalent version or greater if you purchased the robot within the last two years.