Using Plots.jl:
using Plots, DataFrames
rect(w, h, x, y) = Shape(x .+ [0,w,w,0], y .+ [0,0,h,h])
df = DataFrame(label=["A","B"], start_time=[1.0,3.0], end_time=[4.0,5.0], color=[:blue,:green])
df.duration = df.end_time - df.start_time
r = [rect(t[1],1,t[2],t[3]) for t in zip(df.duration, df.start_time, 1:nrow(df))]
plot(r, c=permutedims(df.color), yticks=(1.5:(nrow(df) + 0.5), df.label), xlabel="Time")
