They're close, but not 100% the same. rita is more often used about children drawing, teckna is often used for more complex drawings. rita is used for drawing maps and diagrams, but teckna is for more artistic drawings.
That's because draw in English doesn't only mean to use a pencil. For example you can draw your sword (dra ditt svärd), you can draw a card (dra ett kort), you can draw attention to yourself (dra uppmärksamhet till dig).