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That the problem as well. They have been published in the message on the same frame_id as well. Here is the code from roomba_560 for irsensor part.

rooomba_500_series::RoombaIR irbumper;
irbumper.header.stamp = current_time;

irbumper.header.frame_id = "base_irbumper_left";
irbumper.state = roomba->ir_bumper_[LEFT];
irbumper.signal = roomba->ir_bumper_signal_[LEFT];
irbumper_pub.publish(irbumper);

irbumper.header.frame_id = "base_irbumper_front_left";
irbumper.state = roomba->ir_bumper_[FRONT_LEFT];
irbumper.signal = roomba->ir_bumper_signal_[FRONT_LEFT];
irbumper_pub.publish(irbumper);

irbumper.header.frame_id = "base_irbumper_center_left";
irbumper.state = roomba->ir_bumper_[CENTER_LEFT];
irbumper.signal = roomba->ir_bumper_signal_[CENTER_LEFT];
irbumper_pub.publish(irbumper);

irbumper.header.frame_id = "base_irbumper_centre_right";
irbumper.state = roomba->ir_bumper_[CENTER_RIGHT];
irbumper.signal = roomba->ir_bumper_signal_[CENTER_RIGHT];
irbumper_pub.publish(irbumper);

irbumper.header.frame_id = "base_irbumper_front_right";
irbumper.state = roomba->ir_bumper_[FRONT_RIGHT];
irbumper.signal = roomba->ir_bumper_signal_[FRONT_RIGHT];
irbumper_pub.publish(irbumper);

irbumper.header.frame_id = "base_irbumper_right";
irbumper.state = roomba->ir_bumper_[RIGHT];
irbumper.signal = roomba->ir_bumper_signal_[RIGHT];
irbumper_pub.publish(irbumper);

and the turtlebot only slow down if there is any change of ir reading from ir_bumper_[RIGHT]