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ROS has standard message types for representing sound and accelerometer readings.
If there are already ROS drivers for your robot or your sensors, they may publish the messages that you're looking for.
If there aren't ROS drivers for your robot yet, you may need to write a ROS node to retrieve the data from your sensor, convert it to a standard message, and publish it within ROS. This is usually not hard to do if you have a C/C++ library or a communication protocol for your robot.
Without knowing which robot you have, it's difficult to be more precise.
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