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map_server reads a single map (it is just a picture) and publish it on a topic or via a service.

what you need is

the slam_gmapping node to create a map on base of odometry and laserscan data http://wiki.ros.org/gmapping
map_saver to save the map (served by gmapping)
map_server (to read and publish the saved map) and amcl (to localize your robot in the map) http://wiki.ros.org/map_server

you cant just create a map from longitude and latitude values. please read [1.1 image format] at http://wiki.ros.org/map_server

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