Home Assistant - Start Roomba using actionable push notification

automations.yaml

- id: '1613375678079'
  alias: Ask to start cleaning
  trigger:
  - platform: zone
    entity_id: person.mathijs
    zone: zone.home
    event: leave
  condition:
#  I added this step in the UI, don't know how to find the device_id otherwise
#  - condition: device
#    device_id: <xxxxxxxxxx>
#    domain: vacuum
#    entity_id: vacuum.dustin
#    type: is_docked
  action:
  - service: notify.mobile_app_iphone
    data:
      title: Vacuum cleaning
      message: Would you like to start the vacuum cleaner?
      data:
        push:
          category: clean
        action_data:
  mode: single
- id: '1613375964751'
  alias: Start vacuum cleaner
  description: ''
  trigger:
  - platform: event
    event_type: ios.notification_action_fired
    event_data:
      actionName: START_CLEANING
  condition: []
  action:
  - service: vacuum.start
    data: {}
    entity_id: vacuum.dustin
  mode: single

configuration.yaml

# You need to add a push notification category in configuration.yaml
# 
# For Android, see:
# https://companion.home-assistant.io/docs/notifications/actionable-notifications/

ios:
  push:
    categories:
      - name: Clean
        identifier: "clean"
        actions:
          - identifier: "START_CLEANING"
            title: "Start vacuum cleaner"
            activationMode: "background"
            authenticationRequired: true
            destructive: false
            behavior: "default"