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I found something that works for me! First, I made sure that the tango icon theme was installed sudo apt install tango-icon-theme.

Then, I was searching through all of my installed apps for icon settings, and I found an app called Qt5 Settings. It has the option to set the icon theme, so I set it to tango and hit apply, and now the icons show up for all of the rqt plugins! I hope that works for you!