To install get copy and paste, full screen and shared folders work, you have to install the following packages on Ubuntu 16.04:
apt install virtualbox-guest-dkms virtualbox-guest-x11 virtualbox-guest-additions-iso
To have the permission to access the shared folder, you have to add your user to the group vboxsf:
sudo adduser $USER vboxsf
On Ubuntu 16.04 I faced an issue with the compiler: See solution at vboxdrv: version magic '4.4.0-116-generic SMP mod_unload modversions ' should be '4.4.0-116-generic SMP mod_unload modversions retpoline '