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While it's true, as Eranachandran says, that you need to configure the placement service itself using a placement.conf you still need to configured a [placement] section in nova.conf so that the compute and controller nodes know how to access and authenticate to the placement service. See the [placement] part of the instructions at https://docs.openstack.org/nova/stein/install/compute-install-ubuntu.html#install-and-configure-components (near the end of that section).

If you've already got that section, and the credentials in it are correct, then you may have issues with your Keystone service.