diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index bd872b133c..58020d9653 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -1,4 +1,5 @@
-#!/bin/bash
+#!/usr/bin/env bash
+
 
 set -e
 
@@ -106,10 +107,10 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		fi
 		SIM_PID=$!
 
-		if gz model --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep "An instance of Gazebo is not running."; then
-			echo "Start of gzserver failed"
-			exit 1
-        fi
+		while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+			echo "gzserver not ready yet, trying again!"
+			sleep 1
+		done
 
 		if [[ -n "$HEADLESS" ]]; then
 			echo "not running gazebo gui"