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As stated in the keystone log, you are not authorized to make the request. Assuming you have a project named demo and a user named demo, you should create a file containing the environment variables needed for authentication. Something like demo-openrc:

export OS_PROJECT_DOMAIN_NAME=default
export OS_USER_DOMAIN_NAME=default
export OS_PROJECT_NAME=demo
export OS_USERNAME=demo
export OS_PASSWORD=DEMO_PASSWORD
export OS_AUTH_URL=http://CONTROLLER:5000/v3
export OS_IDENTITY_API_VERSION=3
export OS_IMAGE_API_VERSION=2
PS1='[\u@\h \W]\$ (demo) '

where DEMO_PASSWORD is the password assigned to the demo user, and CONTROLLER is the name of your controller. Source the file with . demo-openrc You should then be able to confirm authentication using openstack token issue If that is successful, then try to create the instance again.

See this document for reference.