A complex algorithm development progress for mobile robot (MR) usually requires a priori simulation of the whole dynamic environment before it is applied on a real-world robot. In order to reduce the development time and avoid programming mistakes it is recommended to use the same language for both simulation and real-word testing. The paper presents a certain use case for the simulation-based approach. In this use case V-REP is used for simulation, ROS for the real-world robot application and MATLAB or C# for algorithm development. Note that the source code of the work is available on a public GitHub repository.