Fix exceptions names and messages for Keystone errors

Names and error messages changed for some Ironic exceptions because
they used now not only for Keystone service catalog. Aliases created
for backward compatibility.
These exceptions are deprecated, and will be removed after Kilo:
CatalogUnauthorized (use KeystoneUnauthorized),
CatalogFailure (use KeystoneFailure).

Closes-Bug: #1378868
DocImpact
Change-Id: If719e366b27914af9426ac6d52ff9c168e7b8410
Merge "Fix exceptions names and messages for Keystone errors"