comparison of odom and robot_pose_ekf

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Hi All

In robot_pose_ekf, there is an image that compares the wheel odometry data and robot pose. I'd like to understand how to visually and compare the odom value and robot_pose_ekf so I can analyse the performance of robot_pose_ekf

1) Is the graph value being compared is from odom (nav_msgs/Odometry) and robot_pose_ekf/odom_combined (geometry_msgs/PoseWithCovarianceStamped) values? is this obtained from rqt_plot?

2) Is it possible to display in these comparison in rviz? for example I want to display the robot path based on odom (nav_msgs/Odometry) and robot path robot_pose_ekf/odom_combined (geometry_msgs/PoseWithCovarianceStamped) in my map? can hector_trajectory package can be use for this?

Thanks in advance!