[Feature] Add ROS2 Support for Dirt Detect Sensor and Cleaning Control

[kendemu]

Hello,

I've implemented support for the dirt detect sensor and cleaning commands, as I noticed these features were missing in the ROS2 version. I have implemented a feature to integrate dirt detection and cleaning. https://github.com/QibiTechInc/create_robot

I tested in ROS2 Humble and irobot 604 and confirmed that they work in the cleaning mode and for dirt detection. (The branch I committed the changes are iron, but it also works on humble, so I used the iron branch)

I validated the dirt detection sensor using the following approach, as outlined in the article on dirt detection. The above image shows the test result of dirt detect. https://iroombasetp.com/roomba-dirt-detect-sensors-not-working/

1. Put flours and bread crisps on the ground flooring
2. Execute the default cleaning mode via the ros topic.
3. when the irobot roomba sucks the dirt, it detects the dirt.

I am eager to contribute to this repository by creating a pull request (PR). I followed this code to support the cleaning feature: #14