It clearly states that you need to install the virtualbox-dkms packages. You can follow these steps to solve the problem.
- Install the virtualbox-dkms
sudo apt-get install virtualbox-dkms
- Once you install those packages you also need to do the reconfiguration:
sudo dpkg-reconfigure virtualbox-dkms sudo dpkg-reconfigure virtualbox
- If your problem is still not fixed try installing the headers:
sudo apt-get install linux-headers-generic
You can refer to this Virtualbox Wiki if any of the above won’t work. Also, you may want to check this similar problem on Ubuntu 14.04