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Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator, which allows constructing any type of an environment and simulate different operational conditions for a robot. Therefore a development of an appropriate simulated robot model and its navigation capabilities within a simulator are recently in a focus of many research teams. This article presents a number of improvements to the Gazebo simulator model of the crawler robot Servosila Engineer and a newly developed navigation stack. The navigation stack was validated with the robot's model in the Gazebo and with a real robot in a laboratory environment.