He is thought to be the Floyde listed as a servant of George Corbet of Cowlesmore, Shropshire, his mother's brother, in a document owned by the Stafford family.
On the death of the 5th Baron, Roger petitioned Parliament for the title, at the age of sixty-five.
A commission was appointed to examine his claim, headed by Henry Montagu, 1st Earl of Manchester.
Eventually, the claim reached King Charles I who denied it on grounds of Stafford's poverty.
The title of Baron Stafford was again created, by patent, on 12 September 1640 for Sir William Howard.