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Please see the Qt documentation about the gui thread and worked threads: https://doc.qt.io/qt-5/thread-basics.html

Your custom gui_lock isn't sufficient. You simply can't directly manipulate widgets in a ROS callback (which is being invoked on a different thread).

Also see the rqt documentation which mentions this: http://wiki.ros.org/rqt/Tutorials/Writing%20a%20Python%20Plugin#Using_rospy

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