Generally speaking, anyone that has a comlink subscribed to a drone can access it's sensors, and use the information they offer. This means you just need a drone and a 'link to get a bird's eye view of a situation. (Not a map, but a real time image of the area.)
Adding a simple Mapsoft program could allow you to add a map with guard locations. With an imagelink, you could even have a HUD with a map, or simply have guards located by the drone tagged with Augmented Reality Objects you can see though walls, like a chevron pointing to their locations. (Useful for trying to shoot them though walls, though you'd still be blind firing).
As far as a map overlay and guards, it's generally assumed that software in 2070 can handle producing a compiled image on the fly, but doing something like that (a annotated tactical map) could be something someone with a 'link could use to provide real time information to a squad.
So you'd need to have one person make a Sensor+Perception test (using the drone's sensor rating) then communicate the data they collected to the rest of the team across a comlink network. Or you could program the drone to locate guards and transmit their locations to your comlinks, in that case you'd use the drones sensor + clearsight.
TacNet systems instead are supposed to link a group of wired people into a single unit working together by allowing them to instantly share information. (In game, providing bonus dice). They don't acutely mention anything like the map you wanted, IIRC.