Good morning, Margarita!
I use an invisible applique stitch which is similar to what your manual recommends--a couple of straight stitches and one small stitch that goes in for a bite into the applique fabric. In my case, it actually looks like a couple of straight stitches and one zig-zag, then a couple of straight stitches again. I make my stitches very small because I go slowly and can actually take a teeny bite out of the applique fabric with that single zig-zag that goes inward.
I don't use a foot with a roller. I use what Bernina calls an open toe embroidery foot (#20) which comes standard with my machine. I move my needle all the way to the right so that the inner edge of the right prong of the foot is close to the applique and the needle will go into the background fabric right beside the applique. I know my explanation may not be clear. I'm attaching a photo but I could not get that to be totally clear so if anyone once to provide a clearer picture, I would welcome it.
For me, the key to a good applique stitch, besides not seeing the pokeys come through from the bobbin (a tension issue), and not that I'm any expert because I'm not, just picky about pretty stitches, is to make sure that the inside of your foot is always parallel to the applique fabric. When you have to stop, in the needle-down position to turn your fabric, I always do that when the stitch is doing one of the little straight stitches. I never turn the fabric when the needle is in the applique. If I did, then that bite of a stitch going into the applique will not look pretty.
And here is my not very good picture. Hope this helps!
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