Hi so I notice that the createautonomy https://github.com/AutonomyLab/createautonomy

does not have dirt detect in their code. However, when I went to libcreate, https://github.com/AutonomyLab/libcreate

there was some stuff about dirt detect sensor and I was wondering how I am going to get dirt sensor data through ros. I've been studying both codes for a while but I don't know where to start. If anyone can help soon, that would be greatly appreciated!