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rqt_bag wasn't ported to ROS 2 until recently. It is currently only available in ROS 2 Rolling (soon to be Galactic).

Unfortunately, because it depends on the relatively new package rosbag2_py, it is not compatible with Dashing. There is a chance it could work with Foxy in the near future, pending efforts to backport rosbag2_py: https://github.com/ros2/rosbag2/pull/625

I'm not aware of another tool for visualization bag files. I don't know the status of plotjuggler with newer versions of ROS 2 (ie. Foxy or Rolling).

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