Can I use PC to send position infomation to px4?

I want to process the sensor(such as GPS,VISION,LIDAR,SONAR) data on my computer, and I hope FMU can use this data when my computer send them to it.
Can I do it? How can I do it?
I think maybe I can use mavros to finish it,is that possible?

Please read

Thank you.
I have already downloaded mavros and mavros_extras, do I need some config set for mavros_extras? Or only launch px4.launch and publish “vision_pose/pose” topic?