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In my experience, it depends on how much you want to achieve. The key point is at simulation step. If you only try with simple dynamic model of the system (few equations), Matlab is prefered. If you want to try advanced simulation (Gazebo, V-Rep) with many complicationted robots and sensors, ROS is prefered. I do not say we can not do the same thing with Matlab but it will take more time and efforts. Remember that, ROS is produced after Matlab. It means that the inventors in the early day had seen some problems with Matlab.