From high-level point of view, the following refactoring changes seems are required in nav2_map_server:

Move MapSaver code inside OccGridLoader. try_write_map_to_file()/mapCallback() methods to be renamed to saveMapToFile().
map_saver_cli.cpp to be connected with OccGridLoader class instead. CLI functionality of map_saver binary to be untouchable.
In OccGridLoader class uncover load_map_yaml(), loadMapFromFile(), loadMapFromYaml() methods and LoadParameters structure to be public. They already have all necessary functionality to load map from file or yaml.
make saveMap()/loadMap*() API methods to be static. This seems to be possible since currently these methods does not use any class belonging variables except of parameter ones. This will allow to call save/loadMap() directly from libmap_server_core dynamic library without having a MapServer object initialized locally. This also necessary in Costmap Filters (keep out, preferred lanes, slow/safety zones) #1263 to call MapServer::loadMap() /MapServer::saveMap() without additionally map_server node initialized.
Services GetMap "map" and LoadMap "load_map" are already present in OccGridLoader(). These services might be renamed if necessary in this ticket.
nav_msgs::msg::OccupancyGrid loadMapFromFile() to be removed from nav2_util. It already was moved inside OccGridLoader by e57809b commit.

After all changed applied, nav2_map_server to be look as follows:

map_server - is a node publishing nav_msgs::msg::OccupancyGrid topic taken from loaded map-file.
map_saver - is a command-line executable allowing to save map-file from a currently publishing topic to a given file.
GetMap ("map") and LoadMap ("load_map") are map_server node services (no changes here).
libmap_server_core - is dynamic library (map_server and map_saver both are linking with it) with static OccGridLoader::saveMap()/OccGridLoader::loadMap*() API methods.

Note1: This refactor should not brake initial concept to have multiple mapLoaders for MapServer class. One of them will be OccGridLoader.
Note2: It should keep in mind further changes for multi-map activity like #392.

[Map server] Cleanup map server action items #1010

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