Error - "Unable to find authentication token in headers" when run "nova image-list on a new install env

I just tried to set up a minimum environment with a control node, a network node and a compute node by following the document "openstack-install-guide-kilo.pdf". I went through setting up keystone, glance and compute. At the end of Adding Compute Node section, it verifies the install. The commands "nova service-list", "nova endpoints" had good results.

But "nova image-list" has following error:

$ nova image-list
ERROR (ClientException): The server has either erred or is incapable of performing the requested operation. (HTTP 500) (Request-ID: req-2c4cd3c7-da8d-480d-949d-1a54f51ec994)

The error "HTTP 500" is kind of general error from http server.

From glance-registry.log, it has following error msg:

2015-10-19 20:08:14.976 32745 WARNING keystonemiddleware.auth_token [-] Identity response: {"error": {"message": "The request you have made requires authentication.", "code": 401, "title": "Unauthorized"}}
2015-10-19 20:08:14.997 32745 WARNING keystonemiddleware.auth_token [-] Identity response: {"error": {"message": "The request you have made requires authentication.", "code": 401, "title": "Unauthorized"}}
2015-10-19 20:08:14.997 32745 WARNING keystonemiddleware.auth_token [-] Authorization failed for token
2015-10-19 20:08:14.998 32745 INFO eventlet.wsgi.server [-] 127.0.0.1 - - [19/Oct/2015 20:08:14] "GET /images/detail?is_public=none&limit=20 HTTP/1.1" 401 187 0.063297
2015-10-19 20:08:15.000 32745 WARNING keystonemiddleware.auth_token [-] Unable to find authentication token in headers
2015-10-19 20:08:15.001 32745 INFO eventlet.wsgi.server [-] 127.0.0.1 - - [19/Oct/2015 20:08:15] "GET /images/detail?is_public=none&limit=20 HTTP/1.1" 401 187 0.000781

I searched the forum, I knew there is a post "nova image-list returns 500 error", I tried the steps listed in that post but it didn't fix my issue. I have double, triple checked the configuration in nova.conf, glance-api.conf, glance-registry.conf. restarted all nova, glance services, but the error is still there.

Can anyone tell what I could do to investigate it?
Some other info is as below.

Thanks,
Allen

nova.conf on control node:
# cat /etc/nova/nova.conf
[DEFAULT]
dhcpbridge_flagfile=/etc/nova/nova.conf
dhcpbridge=/usr/bin/nova-dhcpbridge
log_dir=/var/log/nova
state_path=/var/lib/nova
lock_path=/var/lock/nova
force_dhcp_release=True
libvirt_use_virtio_for_bridges=True
verbose=True
ec2_private_dns_show_ip=True
api_paste_config=/etc/nova/api-paste.ini
enabled_apis=ec2,osapi_compute,metadata
rpc_backend = rabbit
auth_strategy = keystone
my_ip = 10.6.117.173
vncserver_listen = 10.6.117.173
vncserver_proxyclient_address = 10.6.117.173

[oslo_messaging_rabbit]
rabbit_host=fbdl4
rabbit_userid=openstack
rabbit_password=abc123

[database]
connection = mysql://nova:abc123@fbdl4/nova

[keystone_authtoken]
auth_uri = http://fbdl4:5000
auth_url = http://fbdl4:35357
auth_plugin = password
project_domain_id = default
user_domain_id = default
project_name = service
username = nova
password = abc123

[glance]
host = fbdl4

[oslo_concurrency]
lock_path = /var/lib/nova/tmp