I understand you want to transition from simulating a robot in Gazebo with Simulink to using a real robot with Simulink and the ROS Toolbox, here are the steps:
- Configure ROS Toolbox for Real Robot: Make sure your Simulink model is configured to use the ROS Toolbox. You should have the ROS Publish and ROS Subscribe blocks in your Simulink model to communicate with the real robot.
- Real Robot Hardware Setup: Connect your real robot's hardware (sensors, actuators, motors, etc.) to the onboard computer. Ensure that your Simulink model interfaces with these hardware components properly.
- ROS on Real Robot: Make sure the ROS middleware is installed and properly configured on your robot's onboard computer. You can use the same ROS version you used for simulation.
- Deployment Computer: Deploy your Simulink model on the computer that's onboard the real robot. This computer should run ROS nodes and facilitate communication between Simulink and the robot's hardware.
For further information, refer to the documentation link below:
