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I had some fun recently with this. My solution/understanding turned out to be three parts:
In e.g. nav_view_dash_widget.py, self.setFixedSize can scale the icons. I ended up doing (and then getting distracted by other things):
# Old version:
#self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
# New version, larger, more absolute:
self.setFixedSize(QSize(100,60))
Caveat: I'm working with a derived version of rqt_dash for Fetch robots, so I've been playing with ever so slightly different code. Nor have I fully wrested control of the rqt_dashboard setup to my liking.