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NanduNandu 

Uncaught Error: Map container is already initialized.

Component
<aura:component implements="force:appHostable,flexipage:availableForAllPageTypes,flexipage:availableForRecordHome,force:hasRecordId" access="global" >
    <aura:attribute name="latitude" type="Decimal" default="20.5937"/>
    <aura:attribute name="longitude" type="Decimal" default="78.9629"/>
    <aura:attribute name="markers" type="Object"/>
    <aura:attribute name="map" type="Object"/>
    <ltng:require styles="/resource/leaflet/leaflet.css" />    
    <ltng:require scripts="/resource/leaflet/leaflet.js"
             afterScriptsLoaded="{!c.jsLoaded}" />
    <aura:handler event="c:carDetailsEvent" action="{!c.carSelectedLocation}"/>
  
        <div class="map" id="map"></div>

</aura:component>

Controller
jsLoaded: function(component, event, helper) {
       var lat=component.get("v.latitude");
        var long=component.get("v.longitude");
       helper.doinit_helper(component,lat,long);
       
},
    carSelectedLocation:function(component,event,helper){
        component.set("v.latitude",event.getParam("latitudeValue"));
        component.set("v.longitude",event.getParam("longitudeValue"))
        //alert('lat....'+event.getParam("latitudeValue"));
       var map = component.get('v.map');
        var lat=component.get("v.latitude");
        var long=component.get("v.longitude");
        helper.doinit_helper(component,lat,long);
        alert('lat..'+lat+'...long...'+long);
}

Helper clas
doinit_helper : function(component,lat,long) {
        setTimeout(function() {
            //alert('lat....'+lat+'  .long....'+long);
            var map = L.map('map', {zoomControl: false,tap: false}).setView([lat, long],6);
            L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Street_Map/MapServer/tile/{z}/{y}/{x}',
                        {
                            attribution: 'Tiles © Esri'
                        }).addTo(map);
            
            // Add marker
            L.marker([lat, long]).addTo(map)
            .bindPopup('Home of Dreamforce');
        });
    }

s​
Raj VakatiRaj Vakati
try this

controller
jsLoaded: function(component, event, helper) {
       var lat=component.get("v.latitude");
        var long=component.get("v.longitude");
       helper.doinit_helper(component,lat,long);
       
},
    carSelectedLocation:function(component,event,helper){
        component.set("v.latitude",event.getParam("latitudeValue"));
        component.set("v.longitude",event.getParam("longitudeValue"))
        //alert('lat....'+event.getParam("latitudeValue"));
     //  var map = component.get('v.map');
        var lat=component.get("v.latitude");
        var long=component.get("v.longitude");
        helper.doinit_helper(component,lat,long);
        alert('lat..'+lat+'...long...'+long);
}

helper
 
doinit_helper : function(component,lat,long) {
        setTimeout(function() {
            //alert('lat....'+lat+'  .long....'+long);
            var map = L.map('map', {zoomControl: false,tap: false}).setView([lat, long],6);
            L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Street_Map/MapServer/tile/{z}/{y}/{x}',
                        {
                            attribution: 'Tiles © Esri'
                        }).addTo(map);
            
            // Add marker
            L.marker([lat, long]).addTo(map)
            .bindPopup('Home of Dreamforce');
        });
    }