Not able to show the add_menu_page icon

You have added the directory name where do you have stored the icon and this should be the 6th argument rather than 5th.

add_menu_page(
    'pms_rohitashv',
    'PMS',
    'subscriber',
    'pms_rohitashv-main',
    '', 
    plugin_dir_url( __FILE__ ).'/images/icon.png'
);

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