@AnithaG84 : Try to load the esrimaphelper on the section before the popup, most of the time this happens due to the all the dependencies dont load in proper sequence.

and if you have 2 map controls on the same section also only 1 will load, so make sure on the section from where the popup is getting called doesn't have the map control. 

let me know if this works, or we will try other options.