Thanks for your help Shane, i was able to find my way through, here is what i do.
1. Create a gmedia gallery and copy the shortcode or use the gmedia shortcode
2. Go to pages and create a new page, paste the shortcode in the text area
3. Copy the permalink of that page
4. Go to appearance > menu > custom menu > add
5. Now add the link to the menu and name it anything you like and then save
6. Go to gmedia > settings > Roles/capability management
7. Adjust the settings to your needs
Now you’re good to go, users can have access to gmedia library and be able to upload and post directly from the frontend admin bar.
I hope this will help anyone with similar issues.