Source the adminrc credentials as shown here:

    # source ~/adminrc

Using the openstack client, create both the nova and placement users:

    # openstack user create nova --domain default --password=nova
    # openstack user create placement 
      --domain default --password=placement

Add the admin role to the nova and placement users in the service project:

    # openstack role add --project service --user nova admin
    # openstack role add --project service --user placement admin

Next, create the compute and placement service entities:

    # openstack service create --name nova
      --description "OpenStack Compute" compute 
    # openstack service create --name placement
      --description "Placement API" placement

Lastly, create the compute and placement endpoints:

    # openstack endpoint create --region RegionOne 
      compute public http://controller01:8774/v2.1
    # openstack endpoint create --region RegionOne 
      compute internal http://controller01:8774/v2.1
    # openstack endpoint create --region RegionOne 
      compute admin http://controller01:8774/v2.1
    # openstack endpoint create --region RegionOne 
      placement public http://controller01:8778
    # openstack endpoint create --region RegionOne 
      placement internal http://controller01:8778
    # openstack endpoint create --region RegionOne 
      placement admin http://controller01:8778