Controlling a robot in Gazebo using Beaglebone Black

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I am presently working on my final year project in which I am designing a surveillance robot. I am presently simulating the robot in Gazebo installed in my PC. I wanted to run the controller code for the robot in a Beaglebone Black so that the board can send commands to the robot in the simulator and then receive some kind of input from the robot(probably pictures installed in the environment). So is it possible to establish some kind of communication between the Gazebo sim and the Beaglebone black?
Thanks!