ROS & Gazebo

I wish to build a ROS simulation of an autonomous fish bait boat within a pond. It should use object detection i.e. land, and set to grid search (both size and depth) within what three words waypoints with depth of between 1m to 10m using an arm attached to the bait boat . Once done, move to the next waypoint. Once complete all waypoints return home.

I would like to visually see the simulation in Gazebo.