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"gzserver: symbol lookup error" when launching Gazebo in Ubuntu 16.04

I have just installed ROS kinetic and Gazebo 7.12.0 in Ubuntu 16.04. When I launch gazebo from terminal I get the following error:

gzserver: symbol lookup error: /usr/lib/x86_64-linux-gnu/ undefined symbol: _ZN8ignition4math15SemanticVersionC1ERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE

and Gazebo won't start.

The strange thing is that if I launch the Turtlebot simulation roslaunch turtlebot_gazebo turtlebot_world.launch Gazebo starts correctly without raising any error. Any idea on why this is happening?