Does the roomba 564 has a gyro?

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Hi, I'm running the turtlebot, but not ont the iRobot, I'm useing a roomba 564. The thing is that when I try to calibrate it says all the time: Still waiting for imu Obviously there's nothing beeing published on the topics /imu/data or /imu/raw. I thinks this topics are related to the gyro. Is that correct? I believe, as a conclusion of what I've exposed, that the roomba that I'm useing doesn't have a gyro. Can somebody confirm that? If that's true, how would you solve that?

Thanks.