If you occurred with above error when you are installing Oracle 12C R2, be careful about needed groups. this error belong to RACDBA group. If you don't add grid user to RACDBA group oracle raise this error hence be sure when you want to create your groups please add oracle and grid in to RACDBA. also I put it oracle help center link.
Refrence
$ id oracle
uid=54321(oracle) gid=54321(oinstall) groups=54321(oinstall),54322(dba),
54323(oper),54324(backupdba),54325(dgdba),54326(kmdba),54327(asmdba),54330(racdba)
$ id grid
uid=54331(grid) gid=54321(oinstall) groups=54321(oinstall),54322(dba),
54327(asmdba),54328(asmoper),54329(asmadmin),54330(racdba)
