When (exactly) to open a Roth IRA?

I've been lurking on PF for a while and I've learned the general rule of a small emergency fund, paying off all high interest debt, and opening a Roth IRA. My general question would be what exactly is considered high interest debt? And are there any benefits to opening a Roth before having all debt paid off?

Here is a look into my current debt:

$2,600 at 6.8%

$12,500 at 5%

$3,000 at 4.5%

$5,800 at 3.86%

$7,500 at 3.4%

This is all student loan debt except about $9,200 on my car loan which is in the 5% category.

I'd like to have this all paid off within 5 years, but at that point I'll be 29 and feel like I'd already be far behind in investments other than my 401k. Thoughts?