I'm using OSDK ROS 4.1.0 and trying to get IR sensor data for avoiding obstacles with m300 in ROS

https://sdk-forum.dji.net/hc/en-us/articles/900006770523-Is-it-possible-for-OSDK-to-obtain-UAV-obstacle-avoidance-data-
I found i can get fusioned sensor data about it the code at " dji_telemetry.hpp "
but i don't know how i subscribe to TOPIC_AVOID_DATA
is there any ros-code to understand the way about using this?

please help me what i to do
I am beginner about OSDK and ROS
If you solve my problem, i will very grateful about you and pray everyday for you ㅠ.ㅠ

I'm using OSDK ROS 4.1.0 and trying to get IR sensor data for avoiding obstacles with m300 in ROS

https://sdk-forum.dji.net/hc/en-us/articles/900006770523-Is-it-possible-for-OSDK-to-obtain-UAV-obstacle-avoidance-data-
I found i can get fusioned sensor data about it the code at " dji_telemetry.hpp "
but i don't know how i subscribe to TOPIC_AVOID_DATA
is there any ros-code to understand the way about using this?

please help me what i to do
I am beginner about OSDK and ROS
If you solve my problem, i will very grateful about you and pray everyday for you ㅠ.ㅠ