我用ssh在ubuntu上安装了hadoop，但在启动hadoop时收到一条错误消息。
以下是错误消息：

hadoop@ubuntu-s-1vcpu-2gb-nyc1-01:/home/datawarehouse/hadoop-3.0.0$ sbin/start-dfs.sh
Starting namenodes on [voiceid.io]
voiceid.io: Permission denied (publickey,password).
Starting datanodes
localhost: Permission denied (publickey,password).
Starting secondary namenodes [ubuntu-s-1vcpu-2gb-nyc1-01]
ubuntu-s-1vcpu-2gb-nyc1-01: Permission denied (publickey,password).

问题出在哪里？请帮帮我。