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You may have multiple versions of rtabmap. rtabmap-databaseViewer is installed with the binaries. To make it simple, remove rtabmap installed by source, then make sure you upgrade both ros-kinetic-rtabmap and ros-kinetic-rtabmap-ros packages to latest version:

$ sudo rm -r /usr/local/bin/rtabmap*
$ sudo rm -r /usr/local/lib/rtabmap*
$ sudo rm -r /usr/local/lib/librtabmap*
$ sudo rm -r /usr/local/include/rtabmap*

$ sudo apt-get install ros-kinetic-rtabmap-ros ros-kinetic-rtabmap