When you put a link on a website for a PDF file that has a scan of a map (downloadable version), in order to obtain it a website visitor would need to download the file. They would not be uploading a file. PDFs can be set up to open on a website, but they also have the option to be downloaded on the file instead of just opening on an internet browser. So, I’m not sure about your reference to uploading a file. In order to have downloadable maps, you would need to scan a map and then put the files on your site to download. That does require uploading those files into your website. If you don’t own the map, then you’ll need to either use an existing one from someone, Google maps make it easy. With a plugin, you see the map, and then when people use the link, they can choose to print it at their location.
If you want “downloadable files” that are images of a map, then you need to scan them or obtain them from a provider.