I have posted an API that interfaces Matlab and Gazebo on my website. All libgazebo functionality is present except for the gripper and factory interfaces (I do not make use of a gripper in my research). I use it in my own research and thought others might find it helpful. The documentation is not very complete at this point but I provide help in the m-files and a simple example with 100 helicopters. I have tested the interface and it works with both
v0.5.2 and v0.6.0.