INT-3248 Suppress HeaderChannelRegistry Warning

Remove warning from BFCR if there is no HeaderChannelRegistry in
the bean factory. Change the log to DEBUG and remove the stack
trace.

Instead, update the Exception message when a channel name can't be
resolved to a channel to indicate that there is no registry.

JIRA: https://jira.springsource.org/browse/INT-3248


__cherry-pick to 3.0.x__ (will require fixup of `DestinationResolutionException` to `ChanneResolutionException` in test case.