refactor(map_launch): use map.launch.xml instead of map.launch.py

[YamatoAndo]

Merge with autowarefoundation/autoware_launch#826

Description

use map.launch.xml instead of map.launch.py.

Tests performed

LSim works

Effects on system behavior

Not applicable.

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[YamatoAndo]

@reviewers
I believe I have modified map.launch.xml to behave the same as map.launch.py.
If there are any differences, please let me know in the comments.

[KYabuuchi]

🙆‍♂️ I have confirmed it works well with the following steps.

# show map node
$ ros2 node list |grep /map
#    /map/lanelet2_map_loader
#    /map/lanelet2_map_visualization
#    /map/map_container
#    /map/map_hash_generator
#    /map/map_projection_loader
#    /map/pointcloud_map_loader
#    /map/vector_map_tf_generator

# kill map_container
$ pgrep -f map_container | awk '{print "kill", $1}' | bash 

# show ros node again
$ ros2 node list |grep /map
#    /map/map_hash_generator
#    /map/map_projection_loader

Also, I did not find any differences from the original map.launch.py.