On my environment it only worked the other way around. Setting systemd results always in an error. Here is my current setup

OS: CentOS 7.6.1810 
Minikube Version v1.0.0
Docker Version  18.06.2-ce

The solution for me was: Check /etc/docker/daemon.json and change systemd to cgroupfs

{
  "exec-opts": ["native.cgroupdriver=cgroupfs"],
  "log-driver": "json-file",
  "log-opts": {
    "max-size": "100m"
  },
  "storage-driver": "overlay2",
  "storage-opts": [
    "overlay2.override_kernel_check=true"
  ]
}

Then reload systemctl systemctl daemon-reload Kill the previous minikub config minikube delete and start the minikube again minikube start --vm-driver=none

Now check the command line the output should find cgroupfs in both outputs

docker info | grep -i cgroup
cat /etc/systemd/system/kubelet.service.d/10-kubeadm.conf

In the end you should see

   kubectl is now configured to use "minikube"
=   Done! Thank you for using minikube!

Simple solution: Start your minikube with the Extra config parameter

--extra-config=kubelet.cgroup-driver=systemd

The complete command to start up minikube is the next line

minikube start --vm-driver=none --extra-config=kubelet.cgroup-driver=systemd

All the best and have fun

This is caused by miscofiguration during the initial startup. For example forgeting to change docker cgroup driver before executing kubeadm init command.

To remedy this under CentOS, open /usr/lib/systemd/system/kubelet.service.d/10-kubeadm.conf or locate the file under your operating system. Locate the entry with EnvironmentFile=-/var/lib/kubelet/kubeadm-flags.env. Open this file and change the value of --cgroup-driver to systemd or to be the same as docker cgroup driver. Old Content:

KUBELET_KUBEADM_ARGS=--cgroup-driver=cgroupfs --network-plugin=cni --pod-infra-container-image=k8s.gcr.io/pause:3.1

New Content:

KUBELET_KUBEADM_ARGS=--cgroup-driver=systemd --network-plugin=cni --pod-infra-container-image=k8s.gcr.io/pause:3.1

It may be better to do the reverse and make kubelet to use systemd

In Kubernetes site, they recommend using systemd https://kubernetes.io/docs/setup/production-environment/container-runtimes/ More details here

And you can change kubelet to use systemd by following https://kubernetes.io/docs/setup/production-environment/tools/kubeadm/install-kubeadm/ adding this to /etc/sysconfig/kubelet

cat /etc/sysconfig/kubelet 
KUBELET_EXTRA_ARGS=--cgroup-driver=systemd

To get minicube running on a CentOS 7, I need to start it with a --extra-config=kubelet.cgroup-driver=systemd as suggested in https://github.com/kubernetes/minikube/issues/2192.

OS: Centos 7.4 As kubernetes 1.23.1 recommend to use cgroup systemd, and docker 20.10.20 use cgroup cgroupfs. So, you have to change docker service file.

step1: Stop docker service

systemctl stop docker

step2: change on files /etc/systemd/system/multi-user.target.wants/docker.service and /usr/lib/systemd/system/docker.service

From :

`ExecStart=/usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock`

TO:

ExecStart=/usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock --exec-opt native.cgroupdriver=systemd

step3: start docker service and kubelet

systemctl start docker
kubeadm init phase kubelet-start

I followed below steps in Ubuntu 18.04 LTS with Kubernetes v1.22.6 and latest version of Docker CE and Containerd.

I have changed the docker service file to change it to systemd. In the older version of kubeadm, kubectl and kubelet till 1.21.1 there was no problem.

And going forward docker service should use systemd by default.

Step 1: Stop docker service

    `systemctl stop docker`

Step 2: change on files /etc/systemd/system/multi-user.target.wants/docker.service and /usr/lib/systemd/system/docker.service

Note: the file /usr/lib/systemd/system/docker.service is not avilable in my system.

From :

    `ExecStart=/usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock`

TO:

    `ExecStart=/usr/bin/dockerd -H fd:// --containerd=/run/containerd/containerd.sock --exec-opt native.cgroupdriver=systemd`

Step 3: Start docker service and kubelet service

    `systemctl daemon-reload`
    `systemctl start docker`
    

Step 4: Since I had run kubeadm reset, I had to run kubeadm init. But it worked.

Step 0: Before all these, several commands need to run to enable containerd to use systemd.

cat <<EOF | sudo tee /etc/modules-load.d/containerd.conf overlay br_netfilter EOF

sudo modprobe overlay sudo modprobe br_netfilter

Setup required sysctl params, these persist across reboots.

cat <<EOF | sudo tee /etc/sysctl.d/99-kubernetes-cri.conf net.bridge.bridge-nf-call-iptables = 1 net.ipv4.ip_forward = 1 net.bridge.bridge-nf-call-ip6tables = 1 EOF

Apply sysctl params without reboot

sudo sysctl --system

Kubernetes Container Runtime

https://kubernetes.io/docs/tasks/administer-cluster/kubeadm/configure-cgroup-driver/

Using the cgroupfs driver As this guide explains using the cgroupfs driver with kubeadm is not recommended.

To continue using cgroupfs and to prevent kubeadm upgrade from modifying the KubeletConfiguration cgroup driver on existing setups, you must be explicit about its value. This applies to a case where you do not wish future versions of kubeadm to apply the systemd driver by default.

See the below section on "Modify the kubelet ConfigMap" for details on how to be explicit about the value.

If you wish to configure a container runtime to use the cgroupfs driver, you must refer to the documentation of the container runtime of your choice

Go to change config docker cgroupfs to systemd

edit: /etc/docker/daemon.json

{
  "exec-opts": ["native.cgroupdriver=systemd"]
}

restart service docker

systemctl daemon-reload && systemctl restart docker && systemctl restart kubelet

show the config in

docker info |grep Cgroup

Edit this file /etc/systemd/system/kubelet.service.d/10-kubeadm.conf change systemd to cgroupfs". then restart the kubelet systemctl restart kubelet.

Changing dockers cgroup driver as mentioned in this answer worked for me.