Spring Boot升级至2.7.16+Java17后运行报错jakarta.servlet.Filter找不到

将Spring Boot版本从2.1.18.RELEASE升级到2.7.16，同时把Java版本从8升级到17，项目构建成功，但本地运行时出现如下错误：

Caused by: java.lang.NoClassDefFoundError: jakarta/servlet/Filter
  at java.base/java.lang.Class.getDeclaredMethods0(Native Method) ~[na:na]
  at java.base/java.lang.Class.privateGetDeclaredMethods(Class.java:3402) ~[na:na]
  at java.base/java.lang.Class.getDeclaredMethods(Class.java:2504) ~[na:na]
  at org.springframework.util.ReflectionUtils.getDeclaredMethods(ReflectionUtils.java:465) ~[spring-core-6.0.12.jar:6.0.12]
  ... 38 common frames omitted
Caused by: java.lang.ClassNotFoundException: jakarta.servlet.Filter
  at java.base/jdk.internal.loader.BuiltinClassLoader.loadClass(BuiltinClassLoader.java:641) ~[na:na]
  at java.base/jdk.internal.loader.ClassLoaders$AppClassLoader.loadClass(ClassLoaders.java:188) ~[na:na]
  at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:520) ~[na:na]
  ... 42 common frames omitted

项目核心依赖 #

<dependencies>
        
        <dependency>
            <groupId>org.apache.kafka</groupId>
            <artifactId>kafka-clients</artifactId>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-web</artifactId>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-actuator</artifactId>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-oauth2-resource-server</artifactId>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-security</artifactId>
        </dependency>
        <dependency>
            <groupId>org.springframework.security</groupId>
            <artifactId>spring-security-core</artifactId>
        </dependency>
    <dependency>
            <groupId>org.apache.tomcat.embed</groupId>
            <artifactId>tomcat-embed-core</artifactId>
            <version>${tomcat-embed.version}</version>
        </dependency>
        <dependency>
            <groupId>org.apache.tomcat.embed</groupId>
            <artifactId>tomcat-embed-el</artifactId>
            <version>${tomcat-embed.version}</version>
        </dependency>
        <dependency>
            <groupId>org.apache.tomcat.embed</groupId>
            <artifactId>tomcat-embed-websocket</artifactId>
            <version>${tomcat-embed.version}</version>
        </dependency>
        <dependency>
            <groupId>org.apache.tomcat</groupId>
            <artifactId>tomcat-annotations-api</artifactId>
        </dependency>
        <dependency>
            <groupId>net.logstash.logback</groupId>
            <artifactId>logstash-logback-encoder</artifactId>
        </dependency>
        <dependency>
            <groupId>io.micrometer</groupId>
            <artifactId>micrometer-registry-prometheus</artifactId>
        </dependency>
        
        <dependency>
            <groupId>com.google.guava</groupId>
            <artifactId>guava</artifactId>
        </dependency>
        <dependency>
            <groupId>com.fasterxml.jackson.core</groupId>
            <artifactId>jackson-core</artifactId>
        </dependency>
        <dependency>
            <groupId>com.fasterxml.jackson.core</groupId>
            <artifactId>jackson-annotations</artifactId>
        </dependency>
        <dependency>
            <groupId>com.fasterxml.jackson.core</groupId>
            <artifactId>jackson-databind</artifactId>
        </dependency>
        <dependency>
            <groupId>org.springframework</groupId>
            <artifactId>spring-context-support</artifactId>
        </dependency>
        <dependency>
            <groupId>commons-validator</groupId>
            <artifactId>commons-validator</artifactId>
            <version>1.4.0</version>
        </dependency>
        <dependency>
            <groupId>org.apache.commons</groupId>
            <artifactId>commons-lang3</artifactId>
        </dependency>
        <dependency>
            <groupId>org.apache.commons</groupId>
            <artifactId>commons-collections4</artifactId>
        </dependency>
        <dependency>
            <groupId>org.json</groupId>
            <artifactId>json</artifactId>
        </dependency>
        <dependency>
            <groupId>org.hibernate</groupId>
            <artifactId>hibernate-validator</artifactId>
            <version>7.0.4.Final</version>
        </dependency>

<!--        <dependency>
            <groupId>io.swagger.codegen.v3</groupId>
            <artifactId>swagger-codegen</artifactId>
            <version>${swagger.codegen.version}</version>
        </dependency>-->
        <dependency>
            <groupId>org.agileware</groupId>
            <artifactId>smartunit</artifactId>
            <version>0.10.2</version>
            <scope>test</scope>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-test</artifactId>
            <scope>test</scope>
        </dependency>
        <dependency>
            <groupId>org.springframework.security</groupId>
            <artifactId>spring-security-test</artifactId>
            <scope>test</scope>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-devtools</artifactId>
            <optional>true</optional>
        </dependency>
        <dependency>
            <groupId>com.github.stefanbirkner</groupId>
            <artifactId>system-lambda</artifactId>
            <version>1.2.1</version>
            <scope>test</scope>
        </dependency>
        <dependency>
            <groupId>org.testcontainers</groupId>
            <artifactId>testcontainers</artifactId>
            <scope>test</scope>
        </dependency>
        <dependency>
            <groupId>org.testcontainers</groupId>
            <artifactId>kafka</artifactId>
            <scope>test</scope>
        </dependency>
        <!-- Postgres -->
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-data-jpa</artifactId>
        </dependency>
        <dependency>
            <groupId>org.postgresql</groupId>
            <artifactId>postgresql</artifactId>
        </dependency>
        <dependency>
            <groupId>com.h2database</groupId>
            <artifactId>h2</artifactId>
            <scope>test</scope>
        </dependency>
        <dependency>
            <groupId>org.flywaydb</groupId>
            <artifactId>flyway-core</artifactId>
        </dependency>
        <dependency>
            <groupId>org.testcontainers</groupId>
            <artifactId>postgresql</artifactId>
            <scope>test</scope>
        </dependency>
        <dependency>
        <groupId>org.springframework.cloud</groupId>
        <artifactId>spring-cloud-starter-openfeign</artifactId>
        </dependency>
        <dependency>
            <groupId>jakarta.validation</groupId>
            <artifactId>jakarta.validation-api</artifactId>
        </dependency>
        <dependency>
            <groupId>jakarta.servlet</groupId>
            <artifactId>jakarta.servlet-api</artifactId>
            <scope>test</scope>
        </dependency>
    </dependencies>

已尝试的解决方法 #

• 添加兼容Jakarta版本（6.0.0、5.0.0）的jetty-server（11.x、12.x）依赖
• 测试Tomcat 9.x和10.x版本
• 注释掉代码中的@EnableSwagger2注解后错误消失，但业务需要使用该注解，尚未尝试添加springdoc-openapi-starter-webmvc-ui依赖

待解答问题 #

1. 如何解决该错误？
2. 除添加springdoc-openapi-starter-webmvc-ui或上述尝试的方法外，还有其他方案吗？请说明原因。

内容的提问来源于stack exchange，提问作者Dev0001