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airflow - Trigger Cloud Composer DAG with a Pub/Sub message

I am trying to create a Cloud Composer DAG to be triggered via a Pub/Sub message. There is the following example from Google which triggers a DAG every time a change occurs in a Cloud Storage bucket: https://cloud.google.com/composer/docs/how-to/using/triggering-with-gcf

However, on the beginning they say you can trigger DAGs in response to events, such as a change in a Cloud Storage bucket or a message pushed to Cloud Pub/Sub. I have spent a lot of time try to figure out how that can be done, but no result.

Can you please help or giving me some directions? Thanks!

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