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Edit 3 : If I run source /opt/ros/kinetic/setup.bash, I got a different error:

/opt/ros/kinetic$ rosrun tf2_tools view_frames.py 
[INFO] [1540844394.031532]: Listening to tf data during 5 seconds...
[INFO] [1540844399.056461]: Generating graph in frames.pdf file...
Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/tf2_tools/view_frames.py", line 81, in <module>
    main()
  File "/opt/ros/kinetic/lib/tf2_tools/view_frames.py", line 52, in main
    with open('frames.gv', 'w') as f:
IOError: [Errno 13] Permission denied: 'frames.gv'

This just means that the current working directory (ie: the directory currently active) is one where your user doesn't have write permissions.

But it would seem the initial issue (not being able to properly use the tf2_ros Python module) is fixed with this.

My best guess is that you did not correctly clone and / or build the tf2 packages in your workspace which made view_frames.py fail.

Using the released binary packages makes everything work (that is why I asked you to source (ie: activate) the normal /opt/ros/kinetic/setup.bash file.