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Within QEMU

On the Linux system, ensure that the own host's name in resolved by adding

127.0.0.1 .localdomain

to the /etc/hosts file, and set up the environment with

export ROS_ROOT=/opt/ros

export ROS_DISTRO=melodic

export ROS_PACKAGE_PATH=/opt/ros/melodic/share

export PATH=$PATH:/opt/ros/melodic/bin

export LD_LIBRARY_PATH=/opt/ros/melodic/lib

export PYTHONPATH=/opt/ros/melodic/lib/python2.7/site-packages

export ROS_MASTER_URI=http://localhost:11311

export CMAKE_PREFIX_PATH=/opt/ros/melodic

touch /opt/ros/melodic/.catkin

Finally, you can start roscore with

roscore