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You need to remap the map and map_metadata topics from map_server to what you need, i.e. to world and world_metadata.

Depending on whether you are using roslaunch or rosrun, there are different ways. Use the <remap ...> tag for roslaunch. If you use rosrun, add the following: rosrun map_server map_server mymap.yaml /map:=/world /map_metadata:=/world_metadata.

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