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It does look like you can still use Stadia Maps for free (you will still need an API key) if you're under 200,000 tiles/month. The tilemap plugin currently doesn't seem to work with this new change, so a PR would need to be made to accept an API key (similar to the Bing maps tile source).
Alternatively, you can use the Bing maps API key (free for testing, but you just need to # for one) with mapviz. Or you can host your own tile map server (Stamen tiles are free to use so you could still use them if you host your own server. Although, their tiles are now pretty out of date). MapProxy is a good tool to check out if you're interested in self hosting.
The maps from Stamen aren't being displayed, I only get the grey background.
I have ubuntu Ubuntu 20.04.6 LTS and ROS noetic.
I'm happy to provide further info if necessary
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