Turtlebot with roomba 780. Error message: [Distance, angle displacement too big, invalid readings from robot. Distance: 1.84, Angle: -21.02].

edit

I am trying to run a roomba 780 but get an error message.

[Distance, angle displacement too big, invalid readings from robot. Distance: 1.84, Angle: -21.02]. Please check that the Create is powered on and that the connector is plugged into the Create.

The launch file I am using is:
<launch>
  <node name="turtlebot_node" type="turtlebot_node.py" pkg="turtlebot_node">
    <rosparam>
      port: /dev/ttyUSB0
      publish_tf: True
      robot_type: roomba
      has_gyro: False
    </rosparam>
  </node>
</launch>

After running the roomba launch file i get the following error message below. Also when I run this launch file I can see that I actually am communicating with my roomba as the roomba turns of, and will not start again until i lift it of the floor. It is as it goes into some kind of protection mode?! I use a irobot usb to din cable.

turtlebot@turtlebot:~$ roslaunch rob.launch
... logging to /home/turtlebot/.ros/log/bc774c0e-15f0-11e2-99a6-00215c5e4e7b/roslaunch-turtlebot-4549.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://turtlebot:53600/

SUMMARY
========

PARAMETERS
 * /rosdistro
 * /rosversion
 * /turtlebot_node/has_gyro
 * /turtlebot_node/port
 * /turtlebot_node/publish_tf
 * /turtlebot_node/robot_type

NODES
  /
    turtlebot_node (turtlebot_node/turtlebot_node.py)

auto-starting new master
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[master]: started with pid [4566]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to bc774c0e-15f0-11e2-99a6-00215c5e4e7b
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[rosout-1]: started with pid [4580]
started core service [/rosout]
Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
process[turtlebot_node-2]: started with pid [4592]
/opt/ros/fuerte/stacks/turtlebot/turtlebot_node/nodes/turtlebot_node.py:54: UserWarning: roslib.rosenv is deprecated, please use rospkg or rosgraph.rosenv
  import roslib.rosenv
[ERROR] [WallTime: 1350213455.602533] Failed to contact device with error: [Distance, angle displacement too big, invalid readings from robot. Distance: 1.84, Angle: -21.02]. Please check that the Create is powered on and that the connector is plugged into the Create.
[ERROR] [WallTime: 1350213462.009986] Failed to contact device with error: [Distance, angle displacement too big, invalid readings from robot. Distance: 1.84, Angle: -21.02]. Please check that the Create is powered on and that the connector is plugged into the Create.
^C[turtlebot_node-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

I know that the 780 should use a baud rate of 115200 which is the same as for the 500 models.

Anyone seen this error with the angle message before?

Thanks