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Most of the customizations of the configuration files are due to David Wu who graciously helped tracking down and fixing all the NoSuchMethodErrors that appeared along the way.
Geronimo 2.0.2 uses XStream 1.1.3. Hudson requires some methods of XStream that are only available in earlier versions and to deploy hudson successfully onto Geronimo, it's recommended to delete xstream-1.1.3.jar from Geronimo's lib directory and place xstream-1.2.2.jar instead. The latest releases of Geronimo have the file already replaced and there's no need to bother about it anymore if you're on Geronimo 2.0.2+.
The plan configures a security realm hudson-realm as well as /hudson as a context for hudson.war.
The plan filters out org.apache.commons.lang. package that comes with Apache Commons Lang 2.0 in Geronimo 2.0.2. As of Hudson 1.160, Apache Commons Lang 2.1 is required and is already included in the war file.
It appears that Hudson uses a customized version of Apache JEXL made specfically for itself so filtering the package from the web classloader is required.
Run Geronimo with
./bin/geronimo.sh run -vv command.
Download hudson.war from its releases web page.
You can deploy hudson.war from the web console of Geronimo, but there's another way to do the same - executing deploy command on the command line.
The Geronimo console shows deployment progress as follows:
Point the browser of your choice to http://localhost:8080/hudson. You should see hudson's welcome page.
Setting up a new Maven2 job in hudson works fine too.