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Thank you for your response.

There is no problem with authentication, but I have got 503 http response and 401 error in logs.

[root@controller ~]# echo $OSTOKEN
[root@controller ~]#
[root@controller ~]# export OS_PROJECT_DOMAIN_NAME=default
[root@controller ~]# export OS_USER_DOMAIN_NAME=default
[root@controller ~]# export OS_PROJECT_NAME=service
[root@controller ~]# export OS_USERNAME=placement
[root@controller ~]# export OS_PASSWORD=password
[root@controller ~]# export OS_AUTH_URL=http://controller:35357/v3
[root@controller ~]# export OS_IDENTITY_API_VERSION=3
[root@controller ~]# export OS_IMAGE_API_VERSION=2
[root@controller ~]# OSTOKEN=$(openstack token issue -f value -c id)
[root@controller ~]# echo $OSTOKEN
gAAAAABaCo1F1CIMVlsTBeuqYH8tm2qR29tbkmUL4vZuhCNPXJI39TQ2YzL6Twoj8fNcAyLe3WhCYW2O1YpbBF0G8mo4bt7Kf0IRsoDOoJ6uWa3RYyJ5SQNoB_5n8EnVXbKPxFYOZ_iFBnaVtL1_XDrGbwsrlDeyy8lZTDdLsqY52pUhFR-7Uow
[root@controller ~]# curl -s -H "X-Auth-Token: $OSTOKEN" http://controller:8778/
<html>
 <head>
  <title>503 Service Unavailable</title>
 </head>
 <body>
  <h1>503 Service Unavailable</h1>
  The server is currently unavailable. Please try again at a later time.<br /><br />
 </body>
</html>
[root@controller ~]#
[root@controller ~]# tail /var/log/keystone/keystone.log
2017-11-14 06:30:19.268 6324 INFO keystone.common.wsgi [req-94873876-b922-403b-9463-74b2c19cc7ac - - - - -] POST http://controller:35357/v3/auth/tokens
2017-11-14 06:30:19.731 6324 WARNING keystone.common.wsgi [req-94873876-b922-403b-9463-74b2c19cc7ac - - - - -] Authorization failed. The request you have made requires authentication. from 172.16.201.1: Unauthorized: The request you have made requires authentication.
2017-11-14 06:30:19.737 6321 INFO keystone.common.wsgi [req-c0e51dc8-b058-4626-9d5e-fd1c30af9be4 - - - - -] POST http://controller:35357/v3/auth/tokens
2017-11-14 06:30:20.149 6321 WARNING keystone.common.wsgi [req-c0e51dc8-b058-4626-9d5e-fd1c30af9be4 - - - - -] Authorization failed. The request you have made requires authentication. from 172.16.201.1: Unauthorized: The request you have made requires authentication.
[root@controller ~]# 
[root@controller ~]# tail /var/log/nova/nova-placement-api.log 
2017-11-14 06:30:19.733 6315 WARNING keystonemiddleware.auth_token [-] Identity response: {"error": {"message": "The request you have made requires authentication.", "code": 401, "title": "Unauthorized"}}: Unauthorized: The request you have made requires authentication. (HTTP 401) (Request-ID: req-94873876-b922-403b-9463-74b2c19cc7ac)
2017-11-14 06:30:20.151 6315 WARNING keystonemiddleware.auth_token [-] Identity response: {"error": {"message": "The request you have made requires authentication.", "code": 401, "title": "Unauthorized"}}: Unauthorized: The request you have made requires authentication. (HTTP 401) (Request-ID: req-c0e51dc8-b058-4626-9d5e-fd1c30af9be4)
2017-11-14 06:30:20.151 6315 CRITICAL keystonemiddleware.auth_token [-] Unable to validate token: Identity server rejected authorization necessary to fetch token data: ServiceError: Identity server rejected authorization necessary to fetch token data
[root@controller ~]#