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Although I removed and purged all ros-kinetic packages prior to upgrading from Ubuntu 16 to 18, I still encountered this problem. in my case the issue was the conflicting python version which I've installed on Ubuntu 16 and got carried here. first off purge all ros and gazebo packages:

sudo apt-get purge ros-*
sudo apt-get remove gazebo* catkin python-rospkg python-rospkg-modules
sudo rm -r /opt/ros/
sudo apt autoremove

then remove and install the python library:

sudo rm -f /etc/apt/sources.list.d/deadsnakes-ubuntu-ppa*
sudo apt remove libpython3.6-*
sudo apt update && sudo apt install -f && sudo apt upgrade
sudo apt install ubuntu-desktop

then restart and install the ros:

sudo apt install ros-melodic-desktop-full