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Data from sources like wheel encoders or visual odometry can be noisy and might not be good enough. Therefore, robot_pose_ekf combines measurements coming from different sources (like IMU, Wheel encoders, Visual Odometry) using EKF to provide a better estimate of the 3D pose of the robot.
REP-105 explains different coordinate frames. base_footprint is just a projection of base_link on the ground.
Yes.. odom_frame can be made a fixed frame in presence of other frames. I am not 100% sure about this. Can someone confirm this?

Hope it helps.

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