Does ros have any messages and/or tools for displaying histograms?

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I've never come across anything in ROS itself but assuming you've installed the rxtools package (rx stack) then you have matplotlib installed since it's a dependency (used by rxplot) and you can use its pyplot.hist command.

As for how to get the data to plot, there are lots of ways but you're looking for a quick, one-off solution you could use rosh (you probably want to check this page for usage details). It could look something like this though:

# pop up a histogram of the field `bar` from the 
# last 100 messages on the topic `foo`:
import matplotlib.pyplot as plt
import numpy as np
x = np.array([m.bar for m in topics.foo[:100]])
plt.hist(x)
plt.show()