I ran into a similar error, but refering to Spring Webflow in a newly created Roo project. The solution for me turned out to be (Project) / right-click / Maven / Enable Maven Dependencies (followed by some restarts and republishes to Tomcat).
It appeared that STS or m2Eclipse was failing to push all the spring webflow jars into the web app lib directory. I'm not sure why. But enabling maven dependency handling and then rebuilding seemed to fix the problem; the webflow jars finally get published and thus it can find the schema namespace references.
I investigated this by exploring the tomcat directory that the web app was published to, clicking into WEB-INF/lib/ while it was running and noticing that it was missing webflow jar files.