This website presents the OpenStreetMap.org to Rescue converter
OpenStreetMap to Rescue is a plugin for the JOSM editor used to edit data from OpenStreetMap.org that enables the conversion of OpenStreetMap GIS data to the format used by the Robocup Rescue Simulation System.
Download or open map data from openstreetmap.
Click Make Rescue Map and Make Buildings.
Click Save Rescue Map and select a subdirectory of the Rescue-Kernel Maps directory.