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Well, Weld is looking for org.apache.catalina.connector.Request class which is part of Tomcat core. Also the result of camel/examples/camel-example-cdi-rest-servlet$ mvn dependency:tree | grep tomcat is:
[INFO] | +- org.apache.tomcat.embed:tomcat-embed-core:jar:8.5.0:runtime
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[INFO] | \- org.apache.tomcat.embed:tomcat-embed-jasper:jar:8.5.0:runtime
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[INFO] | +- org.apache.tomcat.embed:tomcat-embed-el:jar:8.5.0:runtime
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So it seems the bad dependecy was not jasper, but tomcat-embed-core. Anyway, I'm glad it works for you now  .
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