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Try

yum install dkms binutils gcc make patch libgomp glibc-headers glibc-devel kernel-headers kernel-devel

then reboot, and try your

sudo /etc/init.d/vboxdrv setup

again.

If that doesn't work, you'll probably want to just re-install Vbox. It's not the quickest way to solve your problem, but it will be the most painless.

Try

yum install dkms binutils gcc make patch libgomp glibc-headers glibc-devel kernel-headers kernel-devel

then reboot, and try your

sudo /etc/init.d/vboxdrv setup

again. If that doesn't work, try:

sudo modprobe vboxdrv

then try the setup command again.

If _all_ of that doesn't work, you'll probably want to just re-install Vbox. It's not the quickest way to solve your problem, but it will be the most painless.