How can I use tum_ardrone's autopilot in tum_simulator?

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I have tum_ardrone package installed and an actual AR.Drone 2.0. Autopilot works great with the actual AR.Drone. But I am trying to create a training set for a learning algorithm and I need to run several hundreds of simulations so I can generate the training set. Any suggestions on how I can use tum_ardrone's autopilot in the simulator and extract the path of that the drone takes in a vector so I can use it for my training set?

Thank you in advance