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Are you using "grid" user for the GI installation ? Is the grid user can ssh to another node without any password and vice versa ?
I had a same issue. I was receiving SSH connectivity is ok during grid ssh setup, but when I pressed test or next I got INS-06003 or INS-06006. In my case 2nd node could connect to 1st, but 1st couldn't. I solved it by manually configuring ssh. Execute on both nodes:
rm -rf .ssh/
chmod 700 ~/.ssh
ssh-keygen -t rsa
Then copy keys from one node to another:
Edited by: nnarimanov on Nov 20, 2012 10:30 PM
It is always recommended to carry out activities manually so that you know where the error is.