$ sudo apt-get remove rlwrap 

Uninstall rlwrap including dependent package

If you would like to remove rlwrap and it's dependent packages which are no longer needed from Ubuntu,

$ sudo apt-get remove --auto-remove rlwrap 

Use Purging rlwrap

If you use with purge options to rlwrap package all the configuration and dependent packages will be removed.

$ sudo apt-get purge rlwrap 

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 rlwrap 

See Also,