I had similar problem with Tomcat 8 embedded in java7 application.
When I launched Tomcat in my application, it worked. But when I launched it through Maven for integration test purpose, I got this error : "No Spring WebApplicationInitializer types detected on classpath".
I fixed it by upgrading org.apache.tomcat.embed:tomcat-embed-*
dependencies from version 8.0.29 to 8.0.47.