You get this error when your pod is not being able to schedule to your worker nodes. This could be coz of various reasons - pods not ready, nodes not ready, not sufficient memory etc.
I think here your nodes haven't joined the cluster yet, there is no way it is going to deploy a pod on a worker node and hence the error.
You can remove the taint using this command but chose this is your last option as it's not a good practice. What it will do is, it'll start deploying pods on your master instead of your worker nodes which we do not want.
kubectl taint nodes--all node-role.kubernetes.io/master-