Rochester is a 'company town' based on the Mayo Healthcare clinic(s) and is set up that way, understandably. Thankfully. Because it is, access is easy for walking, mobility impaired, and it smoke free in a 4 block radius.
Its kept clean, local culture is friendly, open, and comfortable.
Do not mistake it for a small city - its more of a large town. In that perspective, its lovely to visit. Shuttles go to major locations such as the Mall of America, the local malls, and airports.
Visitor books are available just about everywhere which are chock full of information and ideas. Shopping is lean, but sufficient. For architect nuts, historic buildings abound. the Plummer building is not to be missed.
The heart of the city is connected with skywalks and underground passages that they call 'subways'.