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Hi Deb,

  1. First check to which USB port your roomba is connected using command:

ls /dev/ttyUSB*

  1. Change the permission of that USB port say it's /dev/ttyUSB0...

sudo chmod 777 /dev/ttyUSB0

  1. Now try running rosrun:

rosrun roomba_500_series roomba500_light_node

Hope this helps !!