As of R2015a, MATLAB has a Robotics System Toolbox that includes ROS functionality.
- MATLAB R2015a or higher
- Robotics System Toolbox
- Embedded Coder
- MATLAB Coder
- Simulink Coder
Before learning ROS in MATLAB, it is recommended that you go through the ROS Tutorials - Beginner Level. This will provide you with an understanding of the basic concepts before you begin studying the Mathworks implementation of these ideas.
Mathworks provides a nice set of examples. Working through the examples is an interactive way to understand their implementation of ROS.