You haven't broken any rules. It's just that, if you're planning on making money from your project, it would be respectful to at least offer some token form of payment to the mapmaker.

I'd want the right to freely distribute the image physically and electronically. I'd want the right to use the image commercially.
The first bit is fine but the second part is iffy from the point of view of the guy that invested time in helping you out. Some folks here no doubt want to build their portfolio, though, so you might find a taker that's willing to do something for free and allow you to use it commercially. We all understand tight budgets but, if you really think your project will make you some money someday, maybe see if you and your co-author can scrape up a few bucks to offer for this project - it'll go a long way toward finding a cartographer. Good luck with it!
M