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As I am not allowed to comment with my karma, I'll write an answer...

I had the same problem when working with the turtlebot and connecting the arbotix controller for test and setup purposes.

I made several udev rules for the roomba and the arbotix. udevadm is very helpful to identify properties of your devices to write the rules. Restarting the pc was not necessary (As the man page of udevadm says too)

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