docs(design/autoware-interfaces): add map interface

Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai>

docs/design/autoware-interfaces/components/map.md

@@ -2,26 +2,31 @@
 
 ![Node diagram](./images/Map-Bus-ODD-Architecture.drawio.svg)
 
+## Overview
+
+Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks. Before launching Autoware, you need to load the pre-created map files.
+
 ## Inputs
 
-Autoware relies on high-definition point cloud maps and vector maps of the driving environment to perform various tasks. Before launch Autoware, you need to load the pre-created map files.
+- Point cloud maps (`.pcd`)
+- Lanelet2 maps (`.osm`)
 
-How to create maps reference [Creating maps for Autoware](../../../how-to-guides/creating-maps-for-autoware.md).
+Refer to [Creating maps for Autoware](../../../how-to-guides/creating-maps-for-autoware.md) on how to create maps.
 
 ## Outputs
 
 ### Point cloud map
 
-Loads pointcloud file and publishes the maps to the other Autoware nodes in various configurations. Currently, it supports the following types:
+It loads point cloud files and publishes the maps to the other Autoware nodes in various configurations. Currently, it supports the following types:
 
-- Raw pointcloud map (sensor_msgs/msg/PointCloud2)
-- Downsampled pointcloud map (sensor_msgs/msg/PointCloud2)
-- Partial pointcloud map loading via ROS 2 service (autoware_map_msgs/srv/GetPartialPointCloudMap) 
-- Differential pointcloud map loading via ROS 2 service (autoware_map_msgs/srv/GetDifferentialPointCloudMap)
+- Raw point cloud map (sensor_msgs/msg/PointCloud2)
+- Downsampled point cloud map (sensor_msgs/msg/PointCloud2)
+- Partial point cloud map loading via ROS2 service (autoware_map_msgs/srv/GetPartialPointCloudMap) 
+- Differential point cloud map loading via ROS2 service (autoware_map_msgs/srv/GetDifferentialPointCloudMap)
 
 ### Lanlet2 map
 
-Loads Lanelet2 file and publishes the map data as `autoware_auto_mapping_msgs/msg/HADMapBin` message. The lan/lon coordinates is projected into the MGRS coordinates.
+It loads a Lanelet2 file and publishes the map data as `autoware_auto_mapping_msgs/msg/HADMapBin` message. The lan/lon coordinates are projected onto the MGRS coordinates.
 
 - autoware_auto_mapping_msgs/msg/HADMapBin
     - std_msgs/Header header
@@ -33,6 +38,6 @@ Loads Lanelet2 file and publishes the map data as `autoware_auto_mapping_msgs/ms
 
 ### Lanlet2 map visualization
 
-visualize `autoware_auto_mapping_msgs/HADMapBin` messages in `Rviz`.
+Visualize `autoware_auto_mapping_msgs/HADMapBin` messages in `Rviz`.
 
 - visualization_msgs/msg/MarkerArray