Implementing Simulink designed controller on a real ROS Robot

Hi Roboticists,

I’ve spent time researching a model for a car-like robot and then implementing a controller for that model. I’ve simulated this closed loop system in Simulink and it seems to check out.

Now it’s time to implement the controller in real life on an actual car-like robot! Using ROS.

I’ve seen a bunch of Mathworks tutorials that talk about this but all of them use the Robotics Systems Toolbox which I do not have the money for atm.

So my question is: How can I easily implement this controller designed in Simulink in ROS without using Robotics Systems Toolbox? Any tutorial links would be VERY helpful.

Thanks!!

submitted by /u/MagellanAshesWatcher
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