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Hey,

I think I saw this error while we were using liberty.

Below config worked for us, double check your keystone_authtoken section:

[root@controller ~]# egrep -v '#|^$' /etc/sahara/sahara.conf
[DEFAULT]
use_neutron = True
use_namespaces = True
flavor_id = 3
log_file = sahara-api.log
log_dir = /var/log/sahara
memcached_servers = controller:11211
node_domain = openstacklocal
os_region_name = RegionOne
plugins = vanilla,hdp,spark,cdh,storm
[cinder]
[conductor]
[cors]
[cors.subdomain]
[database]
connection = mysql+pymysql://sahara:password@controller/sahara
idle_timeout = 30
[heat]
[keystone]
[keystone_authtoken]
memcached_servers = controller:11211
auth_uri=http://controller:5000/v3/
identity_uri=http://controller:35357/
admin_user=sahara
admin_password=password
admin_tenant_name=service
[matchmaker_redis]
[matchmaker_ring]
[neutron]
[nova]
[object_store_access]
[oslo_concurrency]
lock_path = /var/lib/sahara/tmp
[oslo_messaging_amqp]
[oslo_messaging_qpid]
[oslo_messaging_rabbit]
rabbit_userid = rabbitmq
rabbit_password = password
[oslo_policy]
[retries]
[ssl]
[swift]
[timeouts]
[cdh]
flavor_id = 3
floating_ip_pool = 88ff3ba2-edb2-45ff-9875-9dc353ed096c
[cdh-540-default-namenode]
flavor_id = 5
floating_ip_pool = 88ff3ba2-edb2-45ff-9875-9dc353ed096c
[vanilla]
flavor_id = 3
floating_ip_pool = 88ff3ba2-edb2-45ff-9875-9dc353ed096c
[vanilla-271-default-master]
flavor_id = 5
floating_ip_pool = 88ff3ba2-edb2-45ff-9875-9dc353ed096c
[spark]
flavor_id = 3
floating_ip_pool = 635a19f4-d116-471f-b773-210c7defc241
[spark-131-default-master]
flavor_id = 5
floating_ip_pool = 635a19f4-d116-471f-b773-210c7defc241
[storm]
flavor_id = 3
floating_ip_pool = 635a19f4-d116-471f-b773-210c7defc241

And for the record, we upgraded to pike last year and sahara's images stopped working so keep this in mind ;)

Good luck!