What they mean by mapped is probably to build a nice Visio/Cisco Network Designer layout of exactly what computers are connected to which network hardware, what the IP and MAC addresses are, etc. - to get a complete layout of how things work, so they have all of the knowledge before they start work.
It's a perfectly reasonable step when you're starting to work on someone else's network - but how much are they going to charge for it?
As far as time goes, it depends - there's software that will attempt to map it (and do a reasonable job) on its own (Cisco makes some good stuff for this) - but the software can be expensive. The other alternative is to go to each machine, trace each cable, etc. - and that will take a while.
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