## 1 Introduction
The study by [PERSON] and [PERSON] [17] provides a comparative analysis between two prominent simulation frameworks--ROS-Gazebo and ROS-Unity3D--for simulating ground mobile robots. Their findings emphasize differences in realism, extensibility, and integration complexity, offering valuable insight into the trade-offs between physics-based simulation and immersive 3D environments. This type of comparative evaluation is particularly important for researchers and developers when selecting the most appropriate simulation platform for their specific use case, as it directly impacts the accuracy of robotic behavior modeling, the ease of system integration, and the transferability of results to real-world applications. The work of [PERSON] [18] presents a ROS-based distributed strategy for localization and orientation within heterogeneous multi-robot systems, highlighting the advantages of decentralized coordination in environments where individual robots may differ in sensing, computation, or mobility capabilities. The primary objective of this study is to simulate the collaborative behavior of multiple mobile robots, demonstrating how distributed algorithms can enable robust and scalable localization in dynamic and diverse scenarios. Recent literature places significant emphasis on the simulation of mobile robots for emergency scenarios, particularly through ROS and Gazebo-based frameworks [19; 20; 21; 22; 23; 24; 25; 26; 27]. This simulation-driven approach enables safe testing, algorithm benchmarking, and deployment validation in hazardous environments. Notable contributions in this field explore obstacle avoidance, radiation mapping, LiDAR-based navigation, reinforcement learning, and multi-robot coordination, illustrating the versatility and growing relevance of virtual testing platforms. These works form a foundational basis for advancing robotic resilience in disaster-response missions. Collectively, these studies confirm that high-fidelity simulation environments, especially those built on ROS and Gazebo, are not only instrumental for algorithm validation and system integration but are also central to the development of resilient, adaptive, and secure robotic solutions. Simulation enables the study of sensoric, manual control, environmental uncertainty, and hardware limitations in a risk-free setting, which is especially crucial for robots designed to operate in time-critical, safety-sensitive domains. Furthermore, simulation allows researchers to benchmark the impact of encryption, communication delays, and cooperative planning strategies in multi-robot systems under realistic mission conditions. This paper introduces a ROS2/Gazebo-based simulation framework tailored for evaluating mobile robotic behavior in emergency scenarios. The proposed platform incorporates LiDAR-based mapping, trajectory tracking, and map scanning in secure inter-agent communication channels. By integrating sensing, tracking, scanning, and security into a unified simulated framework, this work contributes a reproducible and extensible testbed for studying robotic autonomy under realistic emergency constraints. In contrast to conventional wheeled robots, which typically rely on rigid chassis structures and standard wheel configurations, the proposed prototype incorporates a significantly more adaptable locomotion system. While traditional wheeled robots perform efficiently on flat terrains, they often exhibit limitations when confronted with irregular surfaces or vertical discontinuities such as stairs. This design introduces a novel coupling mechanism that enables the front and rear sections of the chassis to move semi-independently. This central passive joint enhances the robot's ability to conform to uneven ground profiles, improving traction and balance. Furthermore, each leg-wheel locomotion unit integrates four curved limbs that contribute to superior stability during stair climbing and obstacle traversal.