dpkg -l | grep odbc
ii  libodbc1:amd64                     2.3.1-3                            amd64        ODBC library for Unix
ii  odbc-postgresql:amd64              1:10.00.0000-1.pgdg80+1            amd64        ODBC driver for PostgreSQL
ii  odbcinst                           2.3.1-3                            amd64        Helper program for accessing odbc ini files
ii  odbcinst1debian2:amd64             2.3.1-3                            amd64        Support library for accessing odbc ini files
ii  unixodbc                           2.3.1-3                            amd64        Basic ODBC tools
ii  unixodbc-dev                       2.3.1-3                            amd64        ODBC libraries for UNIX (development files)


cat /etc/odbcinst.ini
[PostgreSQL]
Description = ODBC para Postgresql
Driver = /usr/lib/x86_64-linux-gnu/odbc/psqlodbca.so
Setup = /usr/lib/x86_64-linux-gnu/odbc/libodbcpsqlS.so
FileUsage = 1


cat /etc/odbc.ini
[asterisk]
Description = ODBC pro Asterisk
Driver = PostgreSQL
Trace = 1
TraceFile = /tmp/tracepsqlodbc.txt
Database = integrador
Servername = localhost
UserName = root
Password = myPassword
Port = 5432
ReadOnly = No
RowVersioning = No
ShowSystemTables = No
ShowOidColumn = No
FakeOidIndex = No
ConnSettings =


Postgresql ps_aors table: (I modified the "qualify_timeout" type to integer after changing asterisk's source)
integrador=# \dS ps_aors
 id                   | character varying(40)  | não nulo
 contact              | character varying(255) |
 default_expiration   | integer                |
 mailboxes            | character varying(80)  |
 max_contacts         | integer                |
 minimum_expiration   | integer                |
 remove_existing      | yesno_values           |
 qualify_frequency    | integer                |
 authenticate_qualify | yesno_values           |
 maximum_expiration   | integer                |
 outbound_proxy       | character varying(40)  |
 support_path         | yesno_values           |
 qualify_timeout      | integer                |
 voicemail_extension  | character varying(40)  |

And postgres version:
root@pabxip:~# psql -V
psql (PostgreSQL) 9.6.4


Asterisk conf files:

cat /etc/asterisk/res_odbc.conf
[asterisk]
enabled => yes
dsn => asterisk
pre-connect => yes
;username => root
;password => myPassword


cat /et/asterisk/sorcery.conf
[res_pjsip]
endpoint=config,pjsip.conf,criteria=type=endpoint
endpoint=realtime,ps_endpoints

auth=config,pjsip.conf,criteria=type=auth
auth=realtime,ps_auths

aor=config,pjsip.conf,criteria=type=aor
aor=realtime,ps_aors

contact=realtime,ps_contacts

[res_pjsip_endpoint_identifier_ip]
identify=realtime,ps_endpoint_id_ips


cat /et/asterisk/extconfig.conf
[settings]

ps_endpoints => odbc,asterisk
ps_auths => odbc,asterisk
ps_aors => odbc,asterisk
ps_domain_aliases => odbc,asterisk
ps_endpoint_id_ips => odbc,asterisk
ps_contacts => odbc,asterisk


cat /etc/asterisk/pjsip.conf
; Basic UDP transport
;
[transport-udp]
type=transport
protocol=udp ;udp,tcp,tls,ws,wss
bind=0.0.0.0

[7000]
type=endpoint
context=internal
disallow=all
allow=ulaw
transport=transport-udp
auth=7000
aors=7000

[7000]
type=auth
auth_type=userpass
password=7000
username=7000

[7000]
type=aor
max_contacts=1


Error that I get in console when start asterisk or command "pjsip reload"
[Out 17 15:11:42] ERROR[4548]: config_options.c:877 aco_set_defaults: Unable to set default for 7000, qualify_timeout=3.0
[Out 17 15:11:42] ERROR[4548]: res_sorcery_config.c:317 sorcery_config_internal_load: Could not create an object of type 'aor' with id '7000' from configuration file 'pjsip.conf'