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The reason is that the TinyXML2 versions used on Bionic and Xenial are very different. So during the initial port we were focuses on Bionic only since Xenial won't be supported in future ROS 2 distros.

That being said supporting the TinyXML2 version on Xenial wasn't that much effort: https://github.com/ros-visualization/qt_gui_core/pull/169 You can either build the code from that branch or wait for the next patch release.

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