Using ethzasl_ptam and ethzasl_sensor_fusion

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Hi guys!

I would like to use ethzasl_ptam to provide IMU+PTAM information and feed it back to my controller. At the moment, this is what I did:

I edited pose_sensor.launch file in ssf_updates:

    <remap from="ssf_core/hl_state_input" to="/mav1/fcu/ekf_state_out" />
    <remap from="ssf_core/correction" to="/mav1/fcu/ekf_state_in" />
    <remap from="ssf_core/pose_measurement" to="/vslam/pose" />

I ran the following executable files:

1. roslaunch hector_quadrotor_demo ftw_flight_gazebo.launch
2. roslaunch hector_quadrotor_teleop logitech_gamepad.launch
3. roslaunch ptam ptam_sim.launch
4. roslaunch ssf_updates pose_sensor.launch

In my rqt_graph, I have this /pose_sensor node that comes out from the /ptam.

My question is, if I would like to feed the fused data (etc position) back to my controller in /gazebo, how do I do it?

Thanks everyone for guidance!

Kenny