Taking information that used to be locked up, re-discovering it from the "ground truth" (literally driving every road in some cases), and then giving it to the world for free does ruin some business models based on gate keeping, but it doesn't harm the consumer.

So should society force Google to charge for Maps? How much?

With a price artifically approaching zero in a product with high margnial cost and higher long run average cost, product tying with android and google search at the least, dominant and uncontestable market power, there's a lot of bells ringing here, and more than enough to suspect significant deadweight loss to society and, yes, "harm" to consumers.

All of these terms have specific definitions, by the way. They don't just mean good or bad. And that list is far from exhaustive.