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Como bien dice Javi V., existe una integración entre ROS y MatLab a través de su última distribución, la R2015a. Quizá desde ahí puedas enviar las órdenes que deseas y generarte una interfaz gráfica desde MatLab. Sino, siempre puedes crear tu propia interfaz gráfica en C o C++ encargada de publicar los comandos necesarios para enviar tus órdenes al robot, dependiendo del nivel de programación que poseas.

Un saludo.

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