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Simulink model and Gazebo

Hi,

Will I be able to control a model in Gazebo directly with Simulink?. For example, I have a robot model in Gazebo, say I want to design a controller for the robot, can I design the controller in Simulink which talks with the gazebo robot?

I found this link: https://www.mathworks.com/help/robotics/examples/perform-co-simulation-between-simulink-and-gazebo.html

but I couldnt find any GazeboPlugins/libraries to connect with Simulink for my Mac (I don't want to use Virtual Machine).

Thanks in advance.