Command line options for ROS and Gazebo

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The option that is being used here is a ROS launch file argument. In order to be able to modify the argument passed to a node the launch file needs to be set up for it to take in an (optional) parameter and pass it down to whichever node makes use of it.

In general you can just open the launch file and look for <arg *=""> tags which specify the argument that can be passed to the launch file and its default value. So in the case of atlas.launch you could do "rosed atlas_utils atlas.launch" in order to open the file and then you'll see the lines

<arg name="gzname" default="gazebo"/>
<arg name="gzworld" default="atlas.world"/>

which tells you that you're able to overwrite the gazebo world being used and whether you want to start it unpaused (default argument gazebo which causes the launch file to run the script run_gazebo in atlas_utils) or paused (by setting gzname to gazebo_paused which then runs the run_gazebo_paused script).

Regiarding the -u and -e options for gazebo you can type "gazebo --help" in order to see all of its available options.