[SPARK-18674][SQL] improve the error message of using join

## What changes were proposed in this pull request?

The current error message of USING join is quite confusing, for example:
```
scala> val df1 = List(1,2,3).toDS.withColumnRenamed("value", "c1")
df1: org.apache.spark.sql.DataFrame = [c1: int]

scala> val df2 = List(1,2,3).toDS.withColumnRenamed("value", "c2")
df2: org.apache.spark.sql.DataFrame = [c2: int]

scala> df1.join(df2, usingColumn = "c1")
org.apache.spark.sql.AnalysisException: using columns ['c1] can not be resolved given input columns: [c1, c2] ;;
'Join UsingJoin(Inner,List('c1))
:- Project [value#1 AS c1#3]
:  +- LocalRelation [value#1]
+- Project [value#7 AS c2#9]
   +- LocalRelation [value#7]
```

after this PR, it becomes:
```
scala> val df1 = List(1,2,3).toDS.withColumnRenamed("value", "c1")
df1: org.apache.spark.sql.DataFrame = [c1: int]

scala> val df2 = List(1,2,3).toDS.withColumnRenamed("value", "c2")
df2: org.apache.spark.sql.DataFrame = [c2: int]

scala> df1.join(df2, usingColumn = "c1")
org.apache.spark.sql.AnalysisException: USING column `c1` can not be resolved with the right join side, the right output is: [c2];
```

## How was this patch tested?

updated tests

Author: Wenchen Fan <wenchen@databricks.com>

Closes #16100 from cloud-fan/natural.