Super late to this. But maybe it will help some in the future. My roomba was doing the same thing. Even with brand new brushes. I completely disassembled cleaned/greased gears, replaced wheels cleaned front wheel. The whole 9. Still the same thing. Tried factory resetting, nothing. One thing I noticed was it would run just fine on the hardwoods. But as soon as it hit the carpet it would “hiccup” (as my two year old calls it) before throwing the dreaded error 2 code. So I tried a theory. The bristles on the brush were too long and jamming it up. So I pulled out the scissors and slowly and in very small amounts trimmed them shorter. I mean like a cm or two. Not much at all. Works just fine now. Might be worth a shot for some. Update (07/13/2022): Super late to this. But maybe it will help some in the future. My roomba was doing the same thing. Even with brand new brushes. I completely disassembled cleaned/greased gears, replaced wheels cleaned front wheel. The whole 9. Still the same thing. Tried factory...