You can use inkview to open an svg in terminal. You simply go to the folder that contains the svg image and type:
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inkview image_name.svg
That is all it does.
Whenever I clicked on an svg inside a ROX window, it would open LibreOffice for some reason and load it in there, eventhough I specified that my default drawing application was Inkscape.
I found that somewhat irritating.
So here's how to change that:
You open ROX File manager, and while you are in the root (~) window, you click on the eye-icon in the task bar. This will show you all the folders and files that are hidden.
One of those folders is called .config. Click on that. Then you go to the folder rox.sourceforge.net, and once inside you go to the MIME-types folder.
Inside the MIME-types folder you will find a number of script files. One of those is called image_svg+xml.
Right-click on this file, and a menu will open. Go to -File 'image_svg+xml'-, then go to -Open As Text-.
Now you've opened it in a text editor, and what you see in all likelyhood is this:
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#!/bin/bash
exec defaultdraw "$1"
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#!/bin/bash
inkview "$1"
Remember though, you do need to have Inkscape installed.