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You can file for guardianship of your granddaughter yourself without an attorney (although I would recommend that you hire one, or at least seek help from a local legal aid office) because you must serve both parents with the lawsuit and give them an opportunity to respond to the petition - part of due process. If you don't properly serve the parents, it could void the whole process.
The court clerk or your local legal aid office should be able to provide you with a form you can fill out if you want to do this on your own. Here are the laws on guardianship in Texas: http://law.onecle.com/texas/probate/chapterXIII.html
Once you are appointed as guardian, you can file for child support from both parents to assist you with caring for the child.