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ROS is distributed by nature. Is there anything preventing you from using another non-headless machine, configuring it to use your RPi as ROS_MASTER_URI and running rqt_graph on there?

ROS is distributed by nature. Is there anything preventing you from using another non-headless machine, configuring it to use your RPi as ROS_MASTER_URI and running rqt_graph on there?

Edit: If you don't have a working DNS for all the involved hosts, don't forget to set the ROS_IP env variable to the IPs of those hosts (so on my_rpi3 with ip 10.10.4.2, set ROS_IP to 10.10.4.2), not to the IP of the master. That is what ROS_MASTER_URI is for.

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