Have Pluto or any of its moons been mapped? I was looking over some of the data for the terrestrial planets, and noticed that Venus, despite its cloud covering, had been mapped by the Arecibo Observatory. Also that other planets such as mars, and some of the Jovian moons were mapped by the Voyagers. So, do any maps exist for Pluto or its moons?
Yes, but they're not very good and they're amazing.

The Wikipedia article for Pluto shows a low-resolution map of the surface, generated from Hubble images:



And the Wikipedia article for Pluto's largest moon Charon shows a low-resolution map of the Pluto-facing side of Charon (not to scale):



Larger image here.

Only the Pluto-facing side is shown because the map was generated from brightness variations during Pluto–Charon occultations.

Maps with similar resolution would show no details of any of the other moons, which are much smaller.

Expect much better images in a couple of years, likely including moons that haven't yet been discovered.

UPDATE : Thanks to user HDE 226868 for reminding me: it's been a couple of years, and we have those much better images now. Here's one from New Horizons via Wikipedia:



Since the question was about a map of Pluto, here you go. You can see the much lower resolution on the opposite hemisphere, which New Horizons saw only from a greater distance (it was a flyby mission).



We also have some good images of Charon:



And here's a map of Charon:



and some lower resolution images of the other moons, Styx, Nix, Kerberos, and Hydra.

My guess that New Horizons would discover new moons turned out to be wrong.