Do you need the J7 model or a different Roomba model? Had the J7 for a week so far with excellent results. I experimented first with a 600 series Roomba but realized I needed the more advanced mapping, front camera, obstacle recognition features of the J7. it recognizes charger cords, sock, boxes, or stack (and is even guaranteed to recognize pet pooh and avoid it). For me this higher tech mapping and recognition lets me not worry if household projects mean I have left out a box or shoes, whatever, in the room. The J7 recognizes stuff like that and cleans around it without getting stuck. Some other models, including the higher end S9 I think, require you pick up more and tidy more before you clean. That's just fine for people whose house stays more organized all the time than mine does. Meanwhile, the cleaning features of the J7 work brilliantly. The S9 has more suction power, and more edge cleaning intensity, so I wondered if I'd be regretting that, but the J7 cleans my hardwood floors and my low pile area rug brilliantly. I've read that deeper pile carpet will benefit from more suction, but my house is mostly hardwood floor and the J7 is brilliant at that my one 10'x16' rug is spotless too.Do you need the self-emptying feature, the "+"? It's such a good feature that it was tempting. However, I was upgrading from a 600 series and wary of spending the high premium for the self-emptying feature when I was finding a good discount on the J7 by itself. What I have found so far is the J7 can easily clean the three large rooms I use it for, clean them fully three times before I get a message the dust bin needs to be emptied. Roomba customer service explained you can expect 800 sq ft of cleaning before you have to empty the bin. This varies probably and that's square feet as measured by the Roomba's cleaning pattern which won't include some of your furniture and fixtures so the cleaned footage measured will be lower than your actual room square footage as measured for the property.Also I wanted to put the Roomba's dock in a spot against my wall where I didn't want the taller self-cleaning box to stick up above the dock. It's a well designed box and not as tall as the i4 model's version, so that shouldn't stop you if you have a spot for it. Worth noting: you need to locate the dock against a well where you have at least 18" or so of space on both sides, and four feet if room in front of the Roomba. That's for navigation.The J7 dust bin is so easy to remove, empty, and replace, that it's just not an issue for me--certainly don't regret not having the self-emptier at this point. The dust bin parts are designed well: a button on the side pops the bin out the side of the machine; another button opens the bin so you can dump it once you have it over the trash. The filter comes out easily too so it can be tapped on the trash bin to clear it. Customer service tells me the dust bin can be washed in warm water and soap too, so you can get it quite clean if you want. They said not to get the filter wet though. One thing to consider is that the Roomba sides can get dusty too from cleaning, even the top can get a bit dusty because it cleans under couches so well and under cabinets, when there's room for it. That means that I've been wiping down the J7 after a full clean of all three rooms. Maybe this won't continue--my rooms were neglected for a while so my J7 may be cleaning more dust this first week than it will clean in the future. In the two rooms it's cleans several times now, it doesn't' get dusty.Even if the outside of the Roomba stays clean, however, the dust bin itself will be be a bit dusty when you remove it. So if handling the bin while you empty it bothers you, then the "+" self-emptying feature is for you. If you have the "+" feature, the dust from weeks of cleanings empties into a collection bag you eventually pull, discard, and replace with a new bag.Mapping: One of my rooms is two steps down from other two. The mapping is so clever I just lift the Roomba down to the lower level and say "Siri, tell [J7] to clean the [room]". The J7 figures out where it is in the room and cleans it fully. When it tells me it's finished, I put it back on the higher level and say "Siri, tell [J7] to go home" and it heads for its dock to charge.Customer service: easy and quick to ask questions.