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I would not suggest to use the roomba_500_series stack because of several implementation related problems. You were facing the most severe one I guess, it does not implement a watchdog that stops the robot in case it does not receive any velocity commands anymore.
You can use the turtlebot driver with the roomba 500 series so I expect the turtlebot iso to work as well. You just need to change the main turtlebot launch file to disable the robot_pose_ekf (I guess you don't have an IMU), to disable the IMU in turtlebot_node, to enable tf publication directly in the turtlebot_node and to change the robot type to roomba. You can find an example launch file here.
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