Platform to give commands to robot to move autonomously based on Kinect map?

Hi, I am working on an autonomous robot that can deliver goods to target destinations. I am using a Kinect 360. I have created a map of my environment using a Kinect 360 and rtabmap. Now, I want to give directions to my robot to go from point A to point B. For this, I need indoor navigation functionality (so localization). Which platform/program should i use to proceed? Which platform allows me to give my robot commands to go from a certain point to another based on the map I provide to it?

Thank you very much!