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Can map_server connect to costmap_2d directly with message or service?

Hi, all, I want to implement a node that implementing some functionalities based on the map which have to use the costmap_2d. I hope that costmap_2d should received the message from map_server. However, I found there is no direct message exchange betweer map_server and costmap_2d, i.e. not topics or services between them. It seems that the move_base node has to launched beforehand.

Does somebody know that there is some direct way to connect them by launching only map_server and costmap_2d node?