How to show custom 404 page when user enters invalid URL in spring boot application?

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I am using java config in spring boot, spring security application. I have configured the error controller as below. But whenever, I enter an invalid URL it goes to error.jsp, which is configured to handle the errors in the application:

@Controller
public class AppErrorController implements ErrorController {

    private static final String PATH = "/error";

    @RequestMapping(value = "/pageNotFound", method = { RequestMethod.GET, RequestMethod.POST })
    public String pageNotFound() {
        return "pageNotFound";
    }

    @RequestMapping(value = "/accessDenied", method = { RequestMethod.GET, RequestMethod.POST })
    public String accessDenied() {
        return "accessDenied";
    }

    @RequestMapping(value = PATH)
    public String error() {
        return "error";
    }

    @Override
    public String getErrorPath() {
        return PATH;
    }
}

web.xml

<error-page>
    <error-code>404</error-code>
    <location>/pageNotFound</location>
</error-page>

<error-page>
    <error-code>500</error-code>
    <location>/error</location>
</error-page>

404 is never thrown when the invalid URL is entered.

Also, I am not using embedded tomcat. I am deploying war to the external tomcat. I have this in my application.yml file:

server:
    error:
        whitelabel:
            enabled: false

Below is the log in case if I enter a invalid URL. There is no error. It just redirects to /error in case of invalid URL:

2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.b.c.web.OrderedRequestContextFilter  : Bound request context to thread: org.apache.catalina.connector.RequestFacade@371ef2a3
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Checking match of request : '/donotexisturl'; against '/static/**'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Checking match of request : '/donotexisturl'; against '/i18n/**'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 1 of 13 in additional filter chain; firing Filter: 'WebAsyncManagerIntegrationFilter'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 2 of 13 in additional filter chain; firing Filter: 'SecurityContextPersistenceFilter'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] w.c.HttpSessionSecurityContextRepository : Obtained a valid SecurityContext from SPRING_SECURITY_CONTEXT: 'org.springframework.security.core.context.SecurityContextImpl@b8db0c9d: Authentication: org.springframework.security.authentication.UsernamePasswordAuthenticationToken@b8db0c9d: Principal: User{id=8, firstname='Adam', lastname='Milne', email='adam.milne@abcd.com', roleId=1}; Credentials: [PROTECTED]; Authenticated: true; Details: org.springframework.security.web.authentication.WebAuthenticationDetails@fffd148a: RemoteIpAddress: 127.0.0.1; SessionId: FED1F23633671F6E257CA9C5AFCEE216; Granted Authorities: ModuleOperation{moduleOperationId=1, moduleOperationName='roleList', moduleId=2, moduleName='role'}, ModuleOperation{moduleOperationId=8, moduleOperationName='deleteUser', moduleId=1, moduleName='user'}'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 3 of 13 in additional filter chain; firing Filter: 'HeaderWriterFilter'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.header.writers.HstsHeaderWriter  : Not injecting HSTS header since it did not match the requestMatcher org.springframework.security.web.header.writers.HstsHeaderWriter$SecureRequestMatcher@6e929f31
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 4 of 13 in additional filter chain; firing Filter: 'CsrfFilter'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 5 of 13 in additional filter chain; firing Filter: 'LogoutFilter'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Request 'GET /donotexisturl' doesn't match 'POST /logout
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 6 of 13 in additional filter chain; firing Filter: 'UsernamePasswordAuthenticationFilter'
2016-03-15 10:02:45.061 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Request 'GET /donotexisturl' doesn't match 'POST /checklogin
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 7 of 13 in additional filter chain; firing Filter: 'ConcurrentSessionFilter'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 8 of 13 in additional filter chain; firing Filter: 'RequestCacheAwareFilter'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 9 of 13 in additional filter chain; firing Filter: 'SecurityContextHolderAwareRequestFilter'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 10 of 13 in additional filter chain; firing Filter: 'AnonymousAuthenticationFilter'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.a.AnonymousAuthenticationFilter  : SecurityContextHolder not populated with anonymous token, as it already contained: 'org.springframework.security.authentication.UsernamePasswordAuthenticationToken@b8db0c9d: Principal: User{id=8, firstname='Adam', lastname='Milne', email='adam.milne@abcd.com', roleId=1}; Credentials: [PROTECTED]; Authenticated: true; Details: org.springframework.security.web.authentication.WebAuthenticationDetails@fffd148a: RemoteIpAddress: 127.0.0.1; SessionId: FED1F23633671F6E257CA9C5AFCEE216; Granted Authorities: ModuleOperation{moduleOperationId=1, moduleOperationName='roleList', moduleId=2, moduleName='role'}, ModuleOperation{moduleOperationId=8, moduleOperationName='deleteUser', moduleId=1, moduleName='user'}'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 11 of 13 in additional filter chain; firing Filter: 'SessionManagementFilter'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 12 of 13 in additional filter chain; firing Filter: 'ExceptionTranslationFilter'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL at position 13 of 13 in additional filter chain; firing Filter: 'FilterSecurityInterceptor'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Request 'GET /donotexisturl' doesn't match 'POST /logout
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Checking match of request : '/donotexisturl'; against '/login**'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Checking match of request : '/donotexisturl'; against '/error**'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Checking match of request : '/donotexisturl'; against '/checklogin**'
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.a.i.FilterSecurityInterceptor    : Secure object: FilterInvocation: URL: /doNotExistURL; Attributes: [fullyAuthenticated]
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.a.i.FilterSecurityInterceptor    : Previously Authenticated: org.springframework.security.authentication.UsernamePasswordAuthenticationToken@b8db0c9d: Principal: User{id=8, firstname='Adam', lastname='Milne', email='adam.milne@abcd.com', roleId=1}; Credentials: [PROTECTED]; Authenticated: true; Details: org.springframework.security.web.authentication.WebAuthenticationDetails@fffd148a: RemoteIpAddress: 127.0.0.1; SessionId: FED1F23633671F6E257CA9C5AFCEE216; Granted Authorities: ModuleOperation{moduleOperationId=1, moduleOperationName='roleList', moduleId=2, moduleName='role'}, ModuleOperation{moduleOperationId=8, moduleOperationName='deleteUser', moduleId=1, moduleName='user'}
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.access.vote.UnanimousBased  : Voter: org.springframework.security.web.access.expression.WebExpressionVoter@6ad88564, returned: 1
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.access.vote.UnanimousBased  : Voter: org.springframework.security.access.vote.AuthenticatedVoter@19007bb6, returned: 0
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.access.vote.UnanimousBased  : Voter: com.sts.app.core.user.security.AccessDecisionVoterImpl@1465b821, returned: 1
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.a.i.FilterSecurityInterceptor    : Authorization successful
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.a.i.FilterSecurityInterceptor    : RunAsManager did not change Authentication object
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /doNotExistURL reached end of additional filter chain; proceeding with original chain
2016-03-15 10:02:45.062 DEBUG 9997 --- [io-8080-exec-22] o.s.web.servlet.DispatcherServlet        : DispatcherServlet with name 'dispatcherServlet' processing GET request for [/gen/doNotExistURL]
2016-03-15 10:02:45.063 DEBUG 9997 --- [io-8080-exec-22] s.w.s.m.m.a.RequestMappingHandlerMapping : Looking up handler method for path /doNotExistURL
2016-03-15 10:02:45.064 DEBUG 9997 --- [io-8080-exec-22] s.w.s.m.m.a.RequestMappingHandlerMapping : Did not find handler method for [/doNotExistURL]
2016-03-15 10:02:45.064 DEBUG 9997 --- [io-8080-exec-22] o.s.w.s.handler.SimpleUrlHandlerMapping  : Matching patterns for request [/doNotExistURL] are [/**]
2016-03-15 10:02:45.064 DEBUG 9997 --- [io-8080-exec-22] o.s.w.s.handler.SimpleUrlHandlerMapping  : URI Template variables for request [/doNotExistURL] are {}
2016-03-15 10:02:45.064 DEBUG 9997 --- [io-8080-exec-22] o.s.w.s.handler.SimpleUrlHandlerMapping  : Mapping [/doNotExistURL] to HandlerExecutionChain with handler [ResourceHttpRequestHandler [locations=[ServletContext resource [/], class path resource [META-INF/resources/], class path resource [resources/], class path resource [static/], class path resource [public/]], resolvers=[org.springframework.web.servlet.resource.PathResourceResolver@87dd2cb]]] and 1 interceptor
2016-03-15 10:02:45.064 DEBUG 9997 --- [io-8080-exec-22] o.s.web.servlet.DispatcherServlet        : Last-Modified value for [/gen/doNotExistURL] is: -1
2016-03-15 10:02:45.077 DEBUG 9997 --- [io-8080-exec-22] o.s.web.servlet.DispatcherServlet        : Null ModelAndView returned to DispatcherServlet with name 'dispatcherServlet': assuming HandlerAdapter completed request handling
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.web.servlet.DispatcherServlet        : Successfully completed request
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.a.ExceptionTranslationFilter     : Chain processed normally
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] s.s.w.c.SecurityContextPersistenceFilter : SecurityContextHolder now cleared, as request processing completed
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.b.c.web.OrderedRequestContextFilter  : Cleared thread-bound request context: org.apache.catalina.connector.RequestFacade@371ef2a3
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.b.c.web.OrderedRequestContextFilter  : Bound request context to thread: org.apache.catalina.core.ApplicationHttpRequest@20ae74b1
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Checking match of request : '/error'; against '/static/**'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Checking match of request : '/error'; against '/i18n/**'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 1 of 13 in additional filter chain; firing Filter: 'WebAsyncManagerIntegrationFilter'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 2 of 13 in additional filter chain; firing Filter: 'SecurityContextPersistenceFilter'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] w.c.HttpSessionSecurityContextRepository : Obtained a valid SecurityContext from SPRING_SECURITY_CONTEXT: 'org.springframework.security.core.context.SecurityContextImpl@b8db0c9d: Authentication: org.springframework.security.authentication.UsernamePasswordAuthenticationToken@b8db0c9d: Principal: User{id=8, firstname='Adam', lastname='Milne', email='adam.milne@abcd.com', roleId=1}; Credentials: [PROTECTED]; Authenticated: true; Details: org.springframework.security.web.authentication.WebAuthenticationDetails@fffd148a: RemoteIpAddress: 127.0.0.1; SessionId: FED1F23633671F6E257CA9C5AFCEE216; Granted Authorities: ModuleOperation{moduleOperationId=1, moduleOperationName='roleList', moduleId=2, moduleName='role'}, ModuleOperation{moduleOperationId=8, moduleOperationName='deleteUser', moduleId=1, moduleName='user'}'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 3 of 13 in additional filter chain; firing Filter: 'HeaderWriterFilter'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 4 of 13 in additional filter chain; firing Filter: 'CsrfFilter'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 5 of 13 in additional filter chain; firing Filter: 'LogoutFilter'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Request 'GET /error' doesn't match 'POST /logout
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 6 of 13 in additional filter chain; firing Filter: 'UsernamePasswordAuthenticationFilter'
2016-03-15 10:02:45.078 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.u.matcher.AntPathRequestMatcher  : Request 'GET /error' doesn't match 'POST /checklogin
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 7 of 13 in additional filter chain; firing Filter: 'ConcurrentSessionFilter'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 8 of 13 in additional filter chain; firing Filter: 'RequestCacheAwareFilter'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 9 of 13 in additional filter chain; firing Filter: 'SecurityContextHolderAwareRequestFilter'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 10 of 13 in additional filter chain; firing Filter: 'AnonymousAuthenticationFilter'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.s.w.a.AnonymousAuthenticationFilter  : SecurityContextHolder not populated with anonymous token, as it already contained: 'org.springframework.security.authentication.UsernamePasswordAuthenticationToken@b8db0c9d: Principal: User{id=8, firstname='Adam', lastname='Milne', email='adam.milne@abcd.com', roleId=1}; Credentials: [PROTECTED]; Authenticated: true; Details: org.springframework.security.web.authentication.WebAuthenticationDetails@fffd148a: RemoteIpAddress: 127.0.0.1; SessionId: FED1F23633671F6E257CA9C5AFCEE216; Granted Authorities: ModuleOperation{moduleOperationId=1, moduleOperationName='roleList', moduleId=2, moduleName='role'}, ModuleOperation{moduleOperationId=8, moduleOperationName='deleteUser', moduleId=1, moduleName='user'}'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 11 of 13 in additional filter chain; firing Filter: 'SessionManagementFilter'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 12 of 13 in additional filter chain; firing Filter: 'ExceptionTranslationFilter'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error at position 13 of 13 in additional filter chain; firing Filter: 'FilterSecurityInterceptor'
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.security.web.FilterChainProxy        : /error reached end of additional filter chain; proceeding with original chain
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] o.s.web.servlet.DispatcherServlet        : DispatcherServlet with name 'dispatcherServlet' processing GET request for [/gen/error]
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] s.w.s.m.m.a.RequestMappingHandlerMapping : Looking up handler method for path /error
2016-03-15 10:02:45.079 DEBUG 9997 --- [io-8080-exec-22] s.w.s.m.m.a.RequestMappingHandlerMapping : Returning handler method [public java.lang.String com.sts.app.core.common.web.AppErrorController.error()]
spring-boot spring-security spring java
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