Help with Ros Nodes


I’m looking for someone’s help with Ros Publishers and Ros Subscribers.
I have taken all three of these DroneDojo courses, and know a fair amount about Ros, but what I want to do requires a little more knowledge:

I have a basic cylinder shape in a gazebo world, and want this cylinder to publish a ros topic, making some sort of “noise”, that the drone could detect (maybe via a ros subscriber), and get drawn towards, or even intelligently re-route itself towards the cylinder as it is flying a basic back-and-forth (lawnmower) pattern.

Does this sound like something that could be done? Would the virtual drone require some sort of Ros sensor? (Other than a camera).

Thanks for any help or inputs.