This work addresses a new concept concerning multi-robot (swarm) path planning in dynamic environments that utilizes the fusion of the Robot Operating System (ROS) and Gazebo simulating environment. In this research, lidar-driven differential drive robotic models were created in Gazebo using a combination of URDF (Unified Robot Description Format) files and ROS packages (ver ROS2 Foxy). URDF is an XML format used to describe a robot’s physical configuration. The methodology aims at real-time generation of collision-free trajectories with motion in the environment. New ROS nodes were developed for robot control, visibility graph management, and collision avoidance, offering evidence for powerful coordination of several autonomous robots. The results of the simulation in Gazebo illustrate the system performance for a variety of dynamic cases. This research resulted in the formulation of strategies for multi-robot cooperation and provided evidence on the use of integration of ROS and Gazebo for advanced path planning in multi-robot systems operating in real time.