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You need define a dependency to the jBPM5 modules you want to use and define the repositories where it needs to get them.  So it will probably look something like this:

<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
  <modelVersion>4.0.0</modelVersion>
  <groupId>org.test</groupId>
  <artifactId>test-jbpm</artifactId>
  <version>1.0.0</version>
  <packaging>jar</packaging>
  <name>jBPM :: Test </name>
   
  <repositories>
    <repository>
      <id>jboss-public-repository-group</id>
      <name>JBoss Public Maven Repository Group</name>
      <url>https://repository.jboss.org/nexus/content/groups/public/</url>
      <layout>default</layout>
      <releases>
        <enabled>true</enabled>
        <updatePolicy>never</updatePolicy>
      </releases>
      <snapshots>
        <enabled>false</enabled>
      </snapshots>
    </repository>
    <repository>
      <id>jboss-snapshot-repository-group</id>
      <name>JBoss SNAPSHOT Maven Repository Group</name>
      <url>https://repository.jboss.org/nexus/content/repositories/snapshots/</url>
      <layout>default</layout>
      <releases>
        <enabled>false</enabled>
      </releases>
      <snapshots>
        <enabled>true</enabled>
        <updatePolicy>never</updatePolicy>
      </snapshots>
    </repository>
  </repositories>

  <dependencies>           
    <dependency>
      <groupId>org.jbpm</groupId>
      <artifactId>jbpm-bpmn2</artifactId>
      <version>5.0-SNAPSHOT</version>
    </dependency>
  </dependencies>
</project>