While using the package named ethzasl_msf, in the lanch file which named pose_sensor.launch,

I am confusing with

<remap from="msf_updates/pose_with_covariance_input" to="vslam/pose"/>

or

<remap from="msf_updates/pose_with_covariance_input" to="vslam/pose_world"/>

which one is right ？？ The topic vslam/pose and vslam/pose_world are published by the package named ethzasl_ptam. Thank you!!!