[SalesForce] e.force:navigateToURL: [Cannot read property ‘setParams’ of undefined]

This is a simple component, not sure what I am missing, this is exactly referred in the docs:
https://developer.salesforce.com/docs/atlas.en-us.lightning.meta/lightning/ref_force_navigateToURL.htm

Component:

<aura:component >
    <aura:handler name="init" action="{!c.navigate}" value="this"/>
</aura:component>

JSController:

({
    navigate : function(component, event, helper) {
        var urlEvent = $A.get("e.force:navigateToURL");
        urlEvent.setParams({
            "url": 'https://www.google.com/maps/place/'
        });
        urlEvent.fire();
    }
})

Error:

This page has an error. You might just need to refresh it.
Action failed: c:navigatetoURlcmp$controller$navigate [Cannot read property 'setParams' of undefined]
Failing descriptor: {c:navigatetoURlcmp$controller$navigate}