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Try these options out:

 -f, --freeze-layout   freeze the layout of the GUI (prevent 
                       rearranging
                        widgets, disable undock/redock)

-l, --lock-perspective
                        lock the GUI to the used perspective
                        (hide menu bar
                        and close buttons of plugins)

(Though when I try rqt -l now it now most of the menu is gone but I still see File and Help - is that a regression or has it always been like that?)

This is in the kinetic-devel branch of qt_gui_core:

-ht, --hide-title     hide the title label, the icon, and the help button
                        (combine with -l and -f to eliminate the entire title
                        bar and reclaim the space)

It hides the title bars of individual plugins.

If you clone https://github.com/ros-visualization/qt_gui_core.git into your catkin_ws it will overlay the system installed qt_gui_core.

Try these options out:

 -f, --freeze-layout   freeze the layout of the GUI (prevent 
                       rearranging
                        widgets, disable undock/redock)

-l, --lock-perspective
                        lock the GUI to the used perspective
                        (hide menu bar
                        and close buttons of plugins)

(Though when I try rqt -l now it now most of the menu is gone but with the latest kinetic, lunar, and kinetic-devel qt_gui_core I still see File and Help. That must be a regression, I took a screenshot a few months ago where File and Help - is that a regression or has it always been like that?)are gone)

This is in the kinetic-devel branch of qt_gui_core:

-ht, --hide-title     hide the title label, the icon,  and the help button
                        (combine with -l and -f to  eliminate the entire title
                        bar and reclaim the space)

It hides the title bars of individual plugins.

If you clone https://github.com/ros-visualization/qt_gui_core.git into your catkin_ws it will overlay the system installed qt_gui_core.