qa/suites/rgw/tempest: bump up keystone to 17.0.0

* also generate a sample conf file following the document at
  https://github.com/openstack/keystone/tree/17.0.0.0rc2/etc
* use "projects" instead of "tenants" to match the terminology used by
  openstack identify API 3.0.
* test API 3.0 instead of API 2.0, by changing
  `rgw_keystone_api_version` from "2" to "3"
* explicitly specify a domain "default" for project to be created,
  otherwise a POST request will fail with:
```
{"error":{"code":400,"message":"You have tried to create a resource using the admin token. As this token is not within a domain you must explicitly include a domain for this resource to belong
to.","title":"Bad Request"}}
````
* create "default" domain, and use it, othewise a GET request fails
  like:
```
2020-05-28T11:17:28.751 INFO:teuthology.orchestra.run.smithi092.stderr:http://smithi092.front.sepia.ceph.com:35357 "GET /v3/domains/default HTTP/1.1" 404 87
2020-05-28T11:17:28.752 INFO:teuthology.orchestra.run.smithi092.stderr:RESP: [404] Content-Length: 87 Content-Type: application/json Date: Thu, 28 May 2020 11:17:28 GMT Server: WSGIServer/0.2
CPython/3.6.9 Vary: X-Auth-Token x-openstack-request-id: req-bc33796f-2bc3-411c-a7fb-1208918e0dbd
2020-05-28T11:17:28.752 INFO:teuthology.orchestra.run.smithi092.stderr:RESP BODY: {"error":{"code":404,"message":"Could not find domain: default.","title":"Not Found"}}
```
* add user to "default" domain when creating it.
* use "type" as the positional argument, per
  https://docs.openstack.org/keystone/pike/admin/cli-keystone-manage-services.html
  otherwise we will have failures like:
```
2020-05-28T13:38:24.867 INFO:teuthology.orchestra.run.smithi198.stderr:openstack service create: error: unrecognized arguments: --type keystone
```
* update `create_endpoint()` to use the V3 API,
  see
  https://docs.openstack.org/python-openstackclient/pike/cli/command-objects/endpoint.html

Fixes: https://tracker.ceph.com/issues/45692
Signed-off-by: Kefu Chai <kchai@redhat.com>

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