The basic process is double-click map, then tiles, then palette. Deciding which ones go together is up to you, but the filenames often help. The icons are supposed to help you figure out what's what but it is rather confusing.
I was looking to get the maps out of Mario Kart DS, but as I said they seem to be in a custom archive type. You can adjust the XML settings and it can list all of the files inside the archive - including what looks like clearly marked 2D maps - but it crashes when it tries to decompress/extract them.