It's a bit old, but this reminded me of [bgromov/ros_qml](
https://github.com/bgromov/ros_qml) ([related ROS Answers question](
https://answers.ros.org/question/238095/how-can-i-do-a-gui/?answer=238147#post-id-238147)).
Sverin Lemaignan seems to have done something similar: [severin-lemaignan/ros-qml-plugin](
https://github.com/severin-lemaignan/ros-qml-plugin) which is a bit more recent.
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