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Its seems like you haven't set the $JAVA_HOME correctly. Please install Java 8 for latest releases.

Open /etc/environment in any text editor gedit or vi and add the following to set java home; Note that the java home can be different in your setup

JAVA_HOME="/usr/lib/jvm/java-8-oracle/"

Use source to load the variables, by running this command:

source /etc/environment

If the the home is set it should showed from echo

echo $JAVA_HOME

Or when you are running Karaf, specify JAVA_HOME there,

sudo JAVA_HOME=/usr/lib/jvm/java-8-oracle/ ./karaf