I'm in no way an expert on this topic, but... Yes, if you have actually hiRes images (at least 300 ppi), the print result will look good (some caveats below). Any local print/copy-shop should do, really. Ah, now we come to the real question at hand...the answer depends on how large the resolution of your source material is (the higher, the better), and how big you want your print to be.

The way I see it: the bigger you want your print, the bigger your source's size and resolution has to be.

I found a rule-of-thumb online, that says:

The number of pixels divided by one hundred gives approximately the output format in centimeters, in which a very good looking print can still be carried out (with 300 ppi).

Example: A 2 megapixel photo (that's 1,600 x 1,200 pixels) divided by 100 = a print of 16 x 12 cm with very good quality.

Going by the usual standard sizes, the largest, still recommendable photo format for 2 megapixels would therefore be 10 x 15 cm.

The next standard size (13 x 18 cm) would still be good, mind you...just not very good anymore.
And in DIN A4 (appr. 20 x 30 cm) it would already visibly suffer.

So - how big would you want your printed maps to be?
And is that size doable with the resolution your source material has?

Only you can tell...