I noticed the colour of my semen was light brown, should I wait for while to see if it clears up by itself, or should I visit the urologist?

It probably wouldn't hurt a thing to wait and see if the color of your semem clears up. I had that once (it's a small amount of blood in the semen) and it cleared up in a few days. I think experiencing that is fairly common in men. If it doesn't clear up, see a doctor.

-h