The question depends on where you are. In some countries such technologies are under prohibition so it is difficult to get the pois.
There are a lot of forums about navigation where you can get what you need.
Roadrunner supports several formats as asc, gbx and kml. I think kml works really fine and you should be able to find it easy since it is the format of google earth.
If you can just get another format or you have more than one POI files, I can recommend GPSbabel for conversion. It supports nearly every format. It is open source and available for Windows, Linux, and Mac.