Inkscape
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Inkscape (inkscape.org) is a free open-source vector graphics package. It is not specifically related to maps, but can be used to make any vector graphics; illustrations, diagrams, line arts, charts, logos, etc.
Inkscape uses SVG as its native storage format, and so opening OpenStreetMap map data into inkscape is possible in a range of different ways, by converting/export/saving to this format. See SVG for more.