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The problem is that rqt_graph and ROS in general seems still to be based on Python 2.7. In Python 2.7 the dict .keys() method returned a list, in Python 3 it returns a dict_keys object that cannot be indexed. On your system you seem to try to run rqt_graph with a Python 3 interpreter (which is I think the default in Ubuntu 16.04). My recommendation is to set up a conda environment with Python 2.7. You will most probably need to install some more Python dependencies, look out for ImportError when trying to run rqt_graph. Moreover, you need to source the environemnt in the terminal each time you run ROS. This can also be automated by simply writing source activate <envname> in your .bashrc or with tools like tmuxinator, which is quite handy for running multiple terminals at once, since that is often required when working with ROS anyway.