We provide a logical navigator node that can navigate to a door, etc. and report its region and navigate to an object. To use this logical navigator node, first obtain a semantic map. If you do not have a semantic map, generate one by following the tutorial: Generating a Semantic Map.

A semantic map consists of 4 parts:

1. A ROS map (yaml + pgm file)
2. A yaml file identifying locations
3. A yaml file identifying doors
4. A yaml file identifying objects (optional)

To use the logical navigator, write a launch file as follows:

`  ``         ` `  ``             ` `  ``          ` `  ``                  ` `  `` ` `                                                 ` `  ``                                         ` `    ``                            ` `    ``                          ` `    ``                  ` `    ``                      ` `  `

And you're done!