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What @NEngelhard said is true, but if I understand your question correctly, you might go this way:

• make UAV reach a waypoint. Once it reached it, post info about it on a topic
• in the other node (the one responsible for sensor readings), subscribe to that topic and register a callback function. As soon as the first node published to that topic, that callback function would be executed.

What @NEngelhard said is true, but if I understand your question correctly, you might also go this way:

• make UAV reach a waypoint. Once it reached it, post info about it on a topic
• in the other node (the one responsible for sensor readings), subscribe to that topic and register a callback function. As soon as the first node published to that topic, that callback function would be executed.