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If I understand your architecture correctly, your Simulink process sends a world control over the network in between each step.

This could add a lot of networking overhead and may slow down the most critical simulation loop, and leave little time for simulation.

  • Do you know how fast you can do this in an empty world (without an models)? This could give you an idea of the maximum performance you can expect.

  • Can you generate code from Simulink and run it from inside a Gazebo plugin?