How to turn on PeopleSoft Navigator Maps

I am trying to access a PS deliveered Base Navigation Map called HRMS. It is tied to the permission list DEVHR2. Workflow PeopleBooks, Design Base Navigation Maps, provides the following instructions:

Users access PeopleSoft Navigator in PeopleSoft Pure Internet Architecture by selecting PeopleTools, Worklist, Navigator, which causes the Navigator structure to appear in place of the standard PeopleSoft portal structure. In the Navigator structure, users see a tree representing the hierarchical relationships of the workflow maps that fall under the high-level map that is used as the Navigator homepage.

This navigation is not available. The Worklist menu does not have anything called Navigator. I checked the demo database and it is the same there.