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I do not have the exact example handy but you could start from here using Matlab: http://www.ros.org/wiki/pr2_mechanism/Tutorials/Plotting%20controller%20data%20in%20matlab. You will have to adopt the tutorial in that you will log the "robot_pose_ekf/odom_combined" and "base_odometry/odom" topics. From both datasets you will only be interested in the pose.position.[x|y] values and can then plot them using plot(data.pose.position.x, data.pose.position.y) command. If you merge both datasets you can obviously also create 2 plots. D.