index.phtml

<h1>Post</h1>
<?php Zend\Debug\Debug::dump($this->categories); ?>

module.config.php

<?php
return array(
    'controllers' => array(
        'invokables' => array(
            'market-index-controller' => 'Market\Controller\IndexController',
            'market-view-controller' => 'Market\Controller\ViewController',
        ),
        'factories' => array(
            'market-post-controller' => 'Market\Factory\PostControllerFactory',
        ),
    ),
    'controller_plugins' => array(
        'invokables' => array(
            'newDate' => 'Market\Controller\Plugins\NewDate',
        ),
    ),
    'router' => array(
        'routes' => array(
            'market' => array(
                'type'    => 'Literal',
                'options' => array(
                    // Change this to something specific to your module
                    'route'    => '/market',
                    'defaults' => array(
                        // Change this value to reflect the namespace in which
                        // the controllers for your module are found
                        //'__NAMESPACE__' => 'Market\Controller',
                        'controller'    => 'market-index-controller',
                        'action'        => 'index',
                    ),
                ),
                'may_terminate' => true,
                'child_routes' => array(
                    // This route is a sane default when developing a module;
                    // as you solidify the routes for your module, however,
                    // you may want to remove it and replace it with more
                    // specific routes.
                    'default' => array(
                        'type'    => 'Segment',
                        'options' => array(
                            'route'    => '/[:controller[/:action]]',
                            'constraints' => array(
                                'controller' => '[a-zA-Z][a-zA-Z0-9_-]*',
                                'action'     => '[a-zA-Z][a-zA-Z0-9_-]*',
                            ),
                            'defaults' => array(
                            ),
                        ),
                    ),
                ),
            ),
        ),
    ),
    'view_manager' => array(
        'template_path_stack' => array(
            'Market' => __DIR__ . '/../view',
        ),
    ),
);

PostController

<?php
/**
 * Zend Framework (http://framework.zend.com/)
 *
 * @link      http://github.com/zendframework/Market for the canonical source repository
 * @copyright Copyright (c) 2005-2015 Zend Technologies USA Inc. (http://www.zend.com)
 * @license   http://framework.zend.com/license/new-bsd New BSD License
 */

namespace Market\Controller;

use Zend\Mvc\Controller\AbstractActionController;
use Zend\Filter\HtmlEntities;
use Zend\View\Model\ViewModel;

class PostController extends AbstractActionController
{
    
    protected $categories;
    
    /**
     * @return the $categories
     */
    public function getCategories()
    {
        return $this->categories;
    }

	/**
     * @param field_type $categories
     */
    public function setCategories($categories)
    {
        $this->categories = $categories;
    }

	public function indexAction()
    {
        $viewModel = new ViewModel(array('categories' => $this->getCategories()));
        return $viewModel;
    }

}

PostControllerFactory

<?php
namespace Market\Factory;

use Zend\ServiceManager\FactoryInterface;
use Zend\ServiceManager\ServiceLocatorInterface;
use Market\Controller\PostController;

class PostControllerFactory implements FactoryInterface
{
    public function createService(ServiceLocatorInterface $sl)
    {
        $sm = $sl->getServiceLocator();
        $controller = new PostController();
        $controller->setCategories($sm->get('application-categories'));
        return $controller;
    }
}