Frame [map] does not exit error in rviz

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I have Autoware.Auto docker image on Ubuntu 20.04. I can visualize autonomoustuff_parking_lot.osm map in rviz and now I want to try a basic SingleLaneRoad map instead of default autonomoustuff_parking_lot map. For this I changed the values of variables below for the new map

• "map_osm_file" in avp_core.launch.py script,
• "map_pcd_file" and "map_yaml_file" in the avp_sim.launch.py script.

They had those values in the code:

• map_osm_file = autonomoustuff_parking_lot.osm
• map_pcd_file = autonomoustuff_parking_lot_lgsvl.pcd
• map_yaml_file = autonomoustuff_parking_lot_lgsvl.yaml

I followed this answer and made also the following changes:

• map_osm_file path added lanelet2_map_provider.param.yaml
• map_pcd_file and map_yaml_file changed in map_publisher.param.yaml

I downloaded SingleLaneRoad.osm file from LGSVL simulator and SingleLaneRoad.pcd file from this repo. However, I couldn't find SingleLaneRoad.yaml file. How can I find it?

I tried to replicate SingleLaneRoad.yaml file and tested the code. The map is not loaded in rviz and there is Frame [map] does not exit error. Maybe the reason is the missing yaml file, but I am not sure. What else should I do? Any help appreciated, I really stuck.