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error on kafka broker after enabling kerberos

I have configured zookeeper and kafka broker for kerberos authentication and both are started but kafka broker have error as below,

[2018-09-07 04:40:33,105] ERROR Invalid ACL (kafka.utils.ZKCheckedEphemeral) [2018-09-07 04:40:33,106] INFO Result of znode creation is: INVALIDACL (kafka.utils.ZKCheckedEphemeral) [2018-09-07 04:40:33,107] ERROR Error while electing or becoming leader on broker 1 (kafka.server.ZookeeperLeaderElector) org.I0Itec.zkclient.exception.ZkException: org.apache.zookeeper.KeeperException$InvalidACLException: KeeperErrorCode = InvalidACL at org.I0Itec.zkclient.exception.ZkException.create(ZkException.java:68) at kafka.utils.ZKCheckedEphemeral.create(ZkUtils.scala:1124) at kafka.server.ZookeeperLeaderElector.elect(ZookeeperLeaderElector.scala:82) at kafka.server.ZookeeperLeaderElector.$anonfun$startup$1(ZookeeperLeaderElector.scala:51) at scala.runtime.java8.JFunction0$mcZ$sp.apply(JFunction0$mcZ$sp.java:12) at kafka.utils.CoreUtils$.inLock(CoreUtils.scala:213) at kafka.server.ZookeeperLeaderElector.startup(ZookeeperLeaderElector.scala:49) at kafka.controller.KafkaController.$anonfun$startup$1(KafkaController.scala:681) at scala.runtime.java8.JFunction0$mcV$sp.apply(JFunction0$mcV$sp.java:12) at kafka.utils.CoreUtils$.inLock(CoreUtils.scala:213) at kafka.controller.KafkaController.startup(KafkaController.scala:677) at kafka.server.KafkaServer.startup(KafkaServer.scala:224) at kafka.server.KafkaServerStartable.startup(KafkaServerStartable.scala:39) at kafka.Kafka$.main(Kafka.scala:67) at kafka.Kafka.main(Kafka.scala) Caused by: org.apache.zookeeper.KeeperException$InvalidACLException: KeeperErrorCode = InvalidACL at org.apache.zookeeper.KeeperException.create(KeeperException.java:121) ... 14 more

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