Robotics System Toolbox: For Ardumower

I'm a beginner in Robotic System toolbox and I have few questions regarding how to use the toolbox. For my project, I'm using XBee to communicate between my robot and Matlab. Where I gather Odometry, IMU, Ultrasonic and Lidar(Only for obstacle avoidance). Then planned to use Differential drive mobile robotic to control the robot. As mentioned in the documentation of Robotic System Toolbox, I'm planning to use "Toolbox algorithms include map representation, path planning, and path following for differential drive robots. You can design and prototype motor control, computer vision, and state machine applications in MATLAB® or Simulink® and integrate them with core algorithms in Robotics System Toolbox." as given in the documentation. Can I use above algorithm without interfacing to ROS? The use of ROS is not required in my project. I have not try to implement using XBee yet, but before I do that I would like to know whether I can use this toolbox without using ROS interface to the robot, but only XBee communication. Also few tips regarding the usage of this toolbox (I have not read the documentation completely yet). Thank you