Machine: obtiene el error 401 al ejecutar docker-machine con el controlador openstack

quiero usar el comando docker-machine en el entorno openstack, el docker-machine --version me da docker-machine version 0.10.0, build 76ed2a6 , así que ejecuto este comando:
sudo docker-machine --debug create -d openstack --openstack-ssh-user ubuntu --openstack-auth-url http://controller:35357/v3 --openstack-image-name ubuntu --openstack-flavor-name m1.small --openstack-domain-name default --openstack-floatingip-pool public --openstack-net-name provider --openstack-username admin --openstack-password **** --openstack-tenant-name default master1

me da este error: Error creating machine: Error in driver during machine creation: Expected HTTP response code [201 202] when accessing [POST http://controller:35357/v3/auth/tokens], but got 401 instead {"error": {"message": "The request you have made requires authentication.", "code": 401, "title": "Unauthorized"}}