I had the same error, I forgot to add the child dependencies in the <dependencyManagement>
. For example in the parent pom:
<dependencyManagement>
<dependencies>
<dependency>
<groupId>com.sw.system4</groupId>
<artifactId>system4-data</artifactId><!-- child artifact id -->
<version>${project.version}</version>
<dependency>
<!-- add all third party libraries ... -->
</dependencies>
<dependencyManagement>