Yes, sadly, that happened. The how's and why's are still unclear, and honestly I'm fine with that. The fact that we had a rogue cat turd lying around somewhere for the robot vacuum to discover is knowledge enough.
After many Q-tips, half a bottle of Lysol, and enough swearing to make our bad-ass Coast Guard neighbor blush, Roomba is clean again. Rico now has infinite credits in the gross-household-jobs bank.