Use oslo-messaging-zmq-receiver to start zeromq receiver

The project-specific receiver command nova-rpc-zmq-receiver
has been replaced with oslo-messaging-zmq-receiver.

We need to update devstack code accordingly.

Change-Id: I7696c649fa818ecb523b698ea4a23f70da60147d
Closes-Bug: 1279739
Merge "Use oslo-messaging-zmq-receiver to start zeromq receiver"