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Liberty: The request you have made requires authentication. (HTTP 401)

I am aware that the same question has be asked on previous releases. I still can not figure out how to fix mine. I follow the instructions to install keystone (http://docs.openstack.org/liberty/install-guide-ubuntu/keystone-install.html). Failed to create service entity with the following command:

ubuntu@stratus1:~$ openstack service create --name keystone --description "OpenStack Identity" --os-url http://controller:35357/v3 --os-token c01f11a39faceecde032 --os-identity-api-version 3 identity
The request you have made requires authentication. (HTTP 401) (Request-ID: req-ac8744cd-0551-422d-affb-313ee985e0d3)

/var/log/keystone/keystone.log complains about invalid token.

2015-11-27 21:19:00.605 28217 WARNING keystone.middleware.core [req-b4daadb2-65cb-41c9-84e2-1722b7139376 - - - - -] RBAC: Invalid token
2015-11-27 21:19:00.606 28217 WARNING keystone.common.wsgi [req-b4daadb2-65cb-41c9-84e2-1722b7139376 - - - - -] The request you have made requires authentication.
2015-11-27 21:19:00.607 28217 INFO eventlet.wsgi.server [req-b4daadb2-65cb-41c9-84e2-1722b7139376 - - - - -] 127.0.0.1 - - [27/Nov/2015 21:19:00] "POST /v3/services HTTP/1.1" 401 425 0.078863

I double-checked what I put in /etc/keystone/keystone.conf. I also dropped and recreated keystone database in mysql.

ubuntu@stratus1:~$ sudo cat /etc/keystone/keystone.conf | grep admin_token
#admin_token = ADMIN
admin_token = c01f11a39faceecde032
ubuntu@stratus1:~$

Where should I check next? What did I do wrong? Thanks in advance.