From 0d4d21cd679218b70842faebf9da7cbaec49edab Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jaeyoung@auterion.com>
Date: Sat, 12 Sep 2020 19:53:41 +0200
Subject: [PATCH] Allow gzserver verbose options through command line

Allows verbose option for gzserver with VERBOS=1 on command line.
---
 Tools/sitl_run.sh | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 70da2c9383..e78a984b68 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -42,6 +42,13 @@ else
 	no_pxh=""
 fi
 
+# To disable user input
+if [[ -n "$VERBOSE" ]]; then
+	verbose="--verbose"
+else
+	verbose=""
+fi
+
 if [ "$model" != none ]; then
 	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
 	if [ -n "$jmavsim_pid" ]; then
@@ -94,24 +101,25 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 			if [ "$world" == "none" ]; then
 				if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${model}.world ]; then
 					echo "empty world, default world ${model}.world for model found"
-					gzserver "${src_path}/Tools/sitl_gazebo/worlds/${model}.world" &
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/${model}.world"
 				else
 					echo "empty world, setting empty.world as default"
-					gzserver "${src_path}/Tools/sitl_gazebo/worlds/empty.world" &
+					world_path="${src_path}/Tools/sitl_gazebo/worlds/empty.world"
 				fi
 			else
 				#Spawn empty world if world with model name doesn't exist
-				gzserver "${src_path}/Tools/sitl_gazebo/worlds/${world}.world" &
+				world_path= $verbose "${src_path}/Tools/sitl_gazebo/worlds/${world}.world"
 			fi
 		else
 			if [ -f ${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
 				# Spawn world by name if exists in the worlds directory from environment variable
-				gzserver "${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world" &
+				world_path="${src_path}/Tools/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
 			else
 				# Spawn world from environment variable with absolute path
-				gzserver "$PX4_SITL_WORLD" &
+				world_path="$PX4_SITL_WORLD"
 			fi
 		fi
+		gzserver $verbose $world_path &
 		SIM_PID=$!
 
 		while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do