Improve Stomp backwards compatibility with 5.x

As I was testing out STOMP in Artemis vs ActiveMQ 5.x I found a few improvements to make:

1. ActiveMQ 5.x uses the header named "activemq.subscriptionName" for supplying a subscription name.  We should support that as well so clients don't need to change their code. 
2. Artemis doesn't create a session until the first message is published or a subscription is created.  I think we should create a session on connection after authentication is complete.  This is more in line with how CORE works and also when 5.x creates a session for a STOMP client.  
3. The Version 10 StompFrameHandler does not properly set the response to disconnect if there is an authentication error.

Also in ActiveMQ 5.x the prefixes "/topic/" and "/queue/" are used by default but this can already be configured by setting prefixes in Artemis so we don't need to worry about that.