You installed Grid Infrastructure for WHAT? If you don't want to use RAC, you want to use ASM for a single instance? Because of the error message I would say your installation was not ok - at least not complete.
Looks like you have installed +"Grid Infra for Standalone Server"+, to use +'Oracle Restart'+ or +'ASM'+.
Could you confirm that it's up and running properly? Is the installer user for Grid Infra and DB install separate?
Also, is there any incomplete Grid install on the same system?
I have tried Grid - ASM and DB Software installs on same machine with separate users. I haven't face this issue.
If database, services and resource are properly configured with grid, then i think it's okey to ignore that exception.