Provide error messages

[jp-hoehmann]

For common issues, we might want to add localized error messages to the error object, simplifying utilization of this library. Currently, any errors are passed through the way they are generated by the browser. This leads to each implementation having to provide (and localize) its own error messages, that are necessarily less specific.

For reference, this is the provider for the error messages the webui currently uses, when an error is encountered in the WebAuthn browser stack:
https://github.com/privacyidea/privacyidea/blob/master/privacyidea/static/providers/errorMessageProvider.js

We should at least check for the following errors:

• requested algorithm not supported by authenticator
• ...