Could not init boot manager (error="Configuration check failed: Discovery URL is not specified")

Can anyone please help me regarding this issue
I had cleaned up everything and trying to install the portworx but i get the error and the portworx pods are not running on some nodes

Error on the worker node :

Failed to bootstrap internal kvdb: Failed to initialize k8s bootstrap: Failed to create configmap px-bootstrap-pxcluster0b1e4441bf81498485d0c8d01d965f26: Unauthorized

Logs of error pods:

I0307 10:56:10.003495 1 main.go:113] Version: v2.1.0
I0307 10:56:10.005017 1 main.go:137] Attempting to open a gRPC connection with: “/csi/csi.sock”
I0307 10:56:10.005055 1 connection.go:153] Connecting to unix:///csi/csi.sock
W0307 10:56:20.005249 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:56:30.005284 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:56:40.005353 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:56:50.005371 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:57:00.005426 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:57:10.005139 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:57:20.005389 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:57:30.005472 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:57:40.005501 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:57:50.005244 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:58:00.005511 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:58:10.005266 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:58:20.005267 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:58:30.005337 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:58:40.005394 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:58:50.005258 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:59:00.005460 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:59:10.005364 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:59:20.005398 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:59:30.005671 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:59:40.005614 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 10:59:50.005220 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 11:00:00.005329 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 11:00:10.005412 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 11:00:20.005488 1 connection.go:172] Still connecting to unix:///csi/csi.sock
W0307 11:00:30.005391 1 connection.go:172] Still connecting to unix:///csi/csi.soc