I think you can add this code in your function.
$location = get_field('location');
if( !empty($location) ){
echo '<div class="acf-map">
<div class="marker" data-lat="'.$location['lat'].'" data-lng="'.$location['lng'].'"></div>
</div>';
}
Then with regards to your script and styles you can add it using wp_enqueue_script() a wordpress core function on adding css and js.
Source for ACF Google Map: http://www.advancedcustomfields.com/resources/google-map/
Source for WP Enqueue Script: http://codex.wordpress.org/Function_Reference/wp_enqueue_script
Thats it definitely you can display the map on the frontend.
