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I ran into the exact same problem with Fedora 23. When I tried to run VirtualBox 5.0.20 it gave me the same error messages. The problem is that you don't have the "kernel-devel" or "dkms" or "kernel-headers" packages installed.


sudo dnf install kernel-devel dkms kernel-headers

Then re-run your '/sbin/rcvboxdrv setup' script; it should work!