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It is a problem with pyqtgraph. You can use rqt_plot without pyqtgraph. It will use MatPlot then. Uninstall pyqtgraph with:

sudo apt remove python-pyqtgraph

If you want to use pyqtgraph anyways, consider to install the newest version from github as mentioned in this post: https://answers.ros.org/question/236924/pyqtgraph-not-working-in-ros-kinetic/