Simulink controlled Gazebo simulated robot [closed]

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Hi all. I'm new for ROS and Gazebo and I need to simulate a robot (Pioneer like, with 2 differential controlled wheels and a castor) moving on an inclined plane. The robot must react to the gravity force, so that, if no control is applied it moves freely on the inclined plane due to the gravity. Moreover, I need to control the robot using a torque controller that applies torque commands to the wheels. I developed a robot model and a controller in Matlab/Simulink and I need to control the Gazebo simulated robot using my Simulink controller. I have already read the ROS and Gazebo tutorials but it is not clear for me if I can use the differential drive plugin or not, maybe I can use the PR2 mechanism approach but I'm not sure it is the correct way. Moreover, I didn't manage to interface Simulink and the Erratic robot just to test the commandability of the Gazebo simulated robot from Simulink using Matlab S-Function.

Any advice is very appreciated.

Thanks all of you in advance for your help.

Mauro