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What Lili Zhang replied is perfect. Here's the steps I followed and it worked (documenting for future reference):

1. Check if a tenant of name 'service' is there by keystone tenant-list
2. keystone user-create --name=cinder --pass=password --tenant service
3. keystone user-role-add --user=cinder --tenant=service --role=admin
4. keystone service-create --name=cinder --type=volume --description="OpenStack Block Storage"
5. keystone endpoint-create --service cinder --publicurl\(tenant_id\)s  --internalurl\(tenant_id\)s --adminurl\(tenant_id\)s --region RegionOne
6. keystone service-create --name=cinderv2 --type=volumev2 --description="OpenStack Block Storage v2"
7. keystone endpoint-create --service cinderv2 --publicurl\(tenant_id\)s  --internalurl\(tenant_id\)s --adminurl\(tenant_id\)s --region RegionOne
8. Now change in the /etc/cinder/cinder.conf in the VM where cinder is running:
     a. Change the keystone_authtoken section the following two: auth_uri and auth_url to point to keystone
     b. Change the oslo_messaging_rabbit section with the rabbit_userid, rabbit_password and rabbit_hosts. 
        [The rabbit_userid, rabbit_password can be retrieved from Keystone VM's local.conf and inspecting vi /var/log/rabbitmq/startup_log]
9. Stop the keystone services in the VM where cinder is installed
10. Restart all the cinder services (c-api, c-sch, c-vol)
11. cinder --os-username cinder --os-password password --os-tenant-name service --os-auth-url list
(0r) 10. export OS_USERNAME=cinder ; export OS_PASSWORD=password ; export OS_AUTH_URL= ; export OS_TENANT_NAME=service ; <cinder cli="">
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