You can uninstall or removes an installed barman-cli package itself from Ubuntu 17.04 (Zesty Zapus) through the terminal,
$ sudo apt-get remove barman-cli
If you would like to remove barman-cli and it's dependent packages which are no longer needed from Ubuntu,
$ sudo apt-get remove --auto-remove barman-cli
If you use with purge options to barman-cli package all the configuration and dependent packages will be removed.
$ sudo apt-get purge barman-cli
If you use purge options along with auto remove, will be removed everything regarding the package, It's really useful when you want to reinstall again.
$ sudo apt-get purge --auto-remove barman-cli