text: import argparse
  
  # Init overall parser and subparser
  parser = argparse.ArgumentParser(
      prog="building_map_generator",
      description="Generate .world files, map models, and navigation maps"
                  "for running in Gazebo or Ignition!"
  )
  subparsers = parser.add_subparsers(help="Commands:", dest="command")
  
  # Init shared parser
  sim_parser = argparse.ArgumentParser(add_help=False)
  sim_parser.add_argument("INPUT", type=str,
                          help="Input building.yaml file to process")
  sim_parser.add_argument("OUTPUT_WORLD", type=str,
                          help="Name of the .world file to output")
  sim_parser.add_argument("OUTPUT_MODEL_DIR", type=str,
                          help="Path to output the map model files")
  sim_parser.add_argument("-o", "--options", type=str, nargs='*', default=[],
                          help="Generator options")
  
  # Create subparsers for Gazebo, Ignition, and Nav generation
  gazebo_parser = subparsers.add_parser(
      'gazebo',
      help='Generate .world file and map model.sdf for Gazebo',
      parents=[sim_parser]
  )
  gazebo_parser.add_argument("-n", "--no_download", default=False,
                             const=True, action="store_const",
                             help="Do not download missing models from Fuel")
  gazebo_parser.add_argument("-m", "--model_path", type=str,
                             help="Gazebo model path to check for models")
  gazebo_parser.add_argument("-c", "--cache", type=str,
                             help="Path to pit_crew model cache")
  
  
  ignition_parser = subparsers.add_parser(
      'ignition',
      help='Generate .world file and map model.sdf for Ignition',
      parents=[sim_parser]
  )
  
  nav_parser = subparsers.add_parser(
      'nav',
      help='Generate nav map .yaml file',
  )
  nav_parser.add_argument("INPUT", type=str,
                          help="Input building.yaml file to process")
  nav_parser.add_argument("OUTPUT_DIR", type=str,
                          help="Path to output the nav .yaml files")
  