Yes. If the error says that the user hasn't granted the publish_actions permission, it means they either didn't approve it or it wasn't asked for some reason. It should always be asked though if you have any Actions configured.
There's no way to force the user to let you post to their profile. It's a completely optional permission. Once it's been granted, the permission can also be removed by the user later in their profile settings in Facebook.
If you think the error is happening when it shouldn't happen, just let me know, and we can investigate further.
I hope that helps,
Alex
Errors in Open Graph Activity
