This presentation will focus on how to interface the matlab/simulink environment with V-REP using the ROS communication libraries (the publisher/subscriber paradigm) for fast prototyping of robot control algorithms. We will first show how to embed ROS nodes in simulink by including custom C S-Functions representing ROS topics to be listened/published. This will make it possible for Simulink to exchange data with V-REP in real-time for obtaining the robot data and computing the needed control actions. Then, we will demonstrate our architecture in two simulated scenarios: (i) visual control of a quadrotor UAV and (ii) visual control of an industrial manipulator. The first scenario will involve a quadrotor UAV equipped with a IMU and a down-looking camera meant to control its pose w.r.t. a ground target by means of a visual servoing law. The second scenario will consider the same situation for a fixed manipulator with an eye-in-hand camera performing a classical visual servoing task.