A new tutorial for Matlab-Simulink is available in our wiki. Although using Matlab-Simulink with ROS was possible long ago, it was hard due to problems with libraries and version compatibility. Since Matlab added the full ROS support in R2015a interfacing with anything that uses ROS, for instance UWSim, is really simple!. Just adding a few "boxes" with publishers and subscribers in Simulink... et voila! we have a controller for the vehicle. This tutorial covers how to create a simulink model for controlling a vehicle in UWSim from scratch using the Robotic System Toolbox.

Take a look at the final result of the tutorial in this video: