We gave our roommates a twenty day notice and when they left they left a lot of garbage in their room and the carpet smells like dog urine from their pet I can't get a new roommate till I sanitize the room can I sue for loss in rent and damages

Do you own the property, or are you renting it from a landlord?

In either case, I guess, you could sue the former room-mate in small claims court. Did you or your landlord get a deposit from the roommate?

This is what deposits are for. Does not the security deposit cover the cost of cleaning?