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Late answer, but still relevant because I hadn't found any solutions online either. It is possible, but you need to have a second serial connection from your arduino, one for Matlab, and one for Ros.

Have a look at this Matlab Project, it should fulfill all your requirements:

https://de.mathworks.com/matlabcentral/fileexchange/69554-ros-deployed-on-arduino-running-in-external-mode-in-simulink