BUG: Fix np.insert with negative axis.

In some cases a negative axis argument to np.insert would result
in wrong behaviour due to np.rollaxis, add modulo operation to
avoid this (an error is still raised due to arr.shape[axis]).

Closes gh-3494
TST: add test for negative axis values in np.insert.
Merge pull request #3570 from seberg/backport-3497

Backport 3497