Current setup: Virtualbox 5.1.20 with Vagrant 1.9.3
Previous working setup: Virtualbox 5.1.18 with Vagrant 1.9
For those who land here with almost the same problem as me, below is the solution
system is currently not set up to build kernel modules
kernel-headers.x86_64 0:3.10.0-862.9.1.el7
kernel-devel-3.10.0-327.el7.x86_64
vagrant ssh
sudo rpm -e kernel-devel-3.10.0-862.9.1.el7.x86_64
sudo wget ftp://mirror.switch.ch/pool/4/mirror/scientificlinux/7.0/x86_64/updates/security/kernel-devel-3.10.0-327.el7.x86_64.rpm
//download the file
sudo rpm -Uvh kernel-devel-3.10.0-327.el7.x86_64.rpm
//use the file downloaded on step 3
exit
vagrant reload
The error output from the command was:
/sbin/mount.vboxsf: mounting failed with the error: No such device
Installing Virtualbox Guest Additions 5.2.16 - guest version is 5.1.10
An error occurred during installation of VirtualBox Guest Additions
This system is currently not set up to build kernel modules.
Please install the Linux kernel "header" files matching the current kernel
packages containing the headers are probably: kernel-devel kernel-devel-3.10.0-327.el7.x86_64
Package kernel-headers.x86_64 0:3.10.0-862.9.1.el7 will be installed
No package kernel-devel-3.10.0-327.el7.x86_64 available.
kernel-devel-3.10.0-327.el7.x86_64
to works