I love Roomba. It cleans our floors and it can be hacked to help teach my kids programming. Win!
Here are the setup steps that I used to get going talking to Roomba:
Removed the cover from Roomba to expose the ROI port (Video).
Setup the Bluetooth adapter on my Mac
Start Bluetooth network assistant
Have the firefly adapter deteted
Enter the passkey: 1234
Click edit serial ports to see what port it assigned. Mine was FireFly-943A-SPP. Alternatively, you can look at /dev directory
Next, you need to configure the baud rate for your Roomba. I found these instructions helpful
Install zterm on your mac - set the serial port to your roomba and the baud rate to the correct baud rate
On zterm you now should be able to echo any key you type
Download RoombaComm java package
Look at the README. You will need to run makeit.sh to build and ./rxtxlib/macosx_setup.command (for Macs)
Finally run RoombaCommTest.sh to connect up and control your Roomba!