I use Serverless-Authentication-boilerplate and want to map custom error response. But it always return 500 error.
authorize.js
// Authorize
function authorize(event, callback) {
  let providerConfig = config(event);
  try {
    let data = utils.readToken(event.authorizationToken, providerConfig.token_secret);
    console.log("Decrypted data: " + JSON.stringify(data));
    let methodArn = event.methodArn.replace(/(GET|POST|PUT|DELETE)/g, '*').replace(/mgnt.+/g, 'mgnt/*');
    console.log(`Change methodArn to: ${methodArn}`);
    // TODO: handle expiration time validation
    callback(null, utils.generatePolicy(
      data.id, // which is $context.authorizer.principalId
      'Allow',
      methodArn));
  } catch (err) {
    console.log(err);
    callback('401 Unauthenticated');
  }
}
s-function.json
responses:{ 
  "401 Unauthenticated.*": {
      "statusCode": "401"
  },
  "default": {
      "statusCode": "200",
      "responseModels": {
        "application/json;charset=UTF-8": "Empty"
      },
      "responseTemplates": {
        "application/json;charset=UTF-8": ""
      }
  }
}
