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Lorenz, I like your suggestion - This is a good idea - I am hoping robot_type roomba figures out the proper baud rate for the sci interface, and there is a robot type create or turtle,

If using the turtlebot distribution on a 500 series, you need to change the SCI baud rate. In the file change self.sci from 57600 to 115200. I had to do this for my home built interface cable which used a Freeduino Bib.

Also - what is TUM?