Have you tried to check the rollers carefully right after getting the error 2? For some reason Roomba is thinking that [https://roboauthority.com/guides/roomba-error-code-troubleshooting|something is stuck in the robot vacuum rollers] as they creating the resistance. If you have it for a while it might be that the inside gears are getting resistance from dirt. You can see in this [https://www.youtube.com/watch?v=MdEX5X3sPsk|video] how to repair it.