Aurora was his worst book, IMHO, and definitely shouldn't dissuade you from his other work.
But I'm struggling with 2140 (just checked and I'm 41% of the way through). Despite living in New York and having a lot of fun with the description of a venetian New York it's just not grabbing my interest yet. I'm going to keep plodding through it but at this stage I'd rather just start re-reading Red Mars again.