Java.lang.reflect.InvocationTargetException raised by method.invoke - Codes Helper

there is no problem with the junit unit test, but there is an error when you pack it into a war package and run it in tomcat and use postman to send a simulation request.
this is the code part. You want to implement the hot loading function of the jar package

    File file = new File("C:/Java/apache-tomcat-8.0.50/webapps/envm/WEB-INF/lib/xxx.jar");//jar
    URL url = file.toURI().toURL();
    ClassLoader loader = new URLClassLoader(new URL[]{url});
    Class<?> cls = loader.loadClass("com.ndww.codec.ProtocolAdapter");
    Method method = cls.getMethod("decode",String.class);
    Object o = method.invoke(null,sensorData);

this is an error message

java.lang.reflect.InvocationTargetException
    at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
    at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
    at java.lang.reflect.Method.invoke(Method.java:498)
    at cn.env.web.pagebg.device.Receiver.receive(Receiver.java:129)
    at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
    at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
    at java.lang.reflect.Method.invoke(Method.java:498)
    at org.springframework.web.method.support.InvocableHandlerMethod.doInvoke(InvocableHandlerMethod.java:221)
    at org.springframework.web.method.support.InvocableHandlerMethod.invokeForRequest(InvocableHandlerMethod.java:137)
    at org.springframework.web.servlet.mvc.method.annotation.ServletInvocableHandlerMethod.invokeAndHandle(ServletInvocableHandlerMethod.java:110)
    at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.invokeHandleMethod(RequestMappingHandlerAdapter.java:776)
    at org.springframework.web.servlet.mvc.method.annotation.RequestMappingHandlerAdapter.handleInternal(RequestMappingHandlerAdapter.java:705)
    at org.springframework.web.servlet.mvc.method.AbstractHandlerMethodAdapter.handle(AbstractHandlerMethodAdapter.java:85)
    at org.springframework.web.servlet.DispatcherServlet.doDispatch(DispatcherServlet.java:959)
    at org.springframework.web.servlet.DispatcherServlet.doService(DispatcherServlet.java:893)
    at org.springframework.web.servlet.FrameworkServlet.processRequest(FrameworkServlet.java:967)
    at org.springframework.web.servlet.FrameworkServlet.doPost(FrameworkServlet.java:869)
    at javax.servlet.http.HttpServlet.service(HttpServlet.java:648)
    at org.springframework.web.servlet.FrameworkServlet.service(FrameworkServlet.java:843)
    at javax.servlet.http.HttpServlet.service(HttpServlet.java:729)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:292)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:207)
    at org.apache.tomcat.websocket.server.WsFilter.doFilter(WsFilter.java:52)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:240)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:207)
    at org.springframework.web.filter.CharacterEncodingFilter.doFilterInternal(CharacterEncodingFilter.java:85)
    at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:107)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:240)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:207)
    at cn.env.filter.CorsFilter.doFilter(CorsFilter.java:26)
    at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:240)
    at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:207)
    at org.apache.catalina.core.StandardWrapperValve.invoke(StandardWrapperValve.java:212)
    at org.apache.catalina.core.StandardContextValve.invoke(StandardContextValve.java:94)
    at org.apache.catalina.core.StandardHostValve.invoke(StandardHostValve.java:141)
    at org.apache.catalina.valves.ErrorReportValve.invoke(ErrorReportValve.java:79)
    at org.apache.catalina.valves.AbstractAccessLogValve.invoke(AbstractAccessLogValve.java:620)
    at org.apache.catalina.core.StandardEngineValve.invoke(StandardEngineValve.java:88)
    at org.apache.catalina.connector.CoyoteAdapter.service(CoyoteAdapter.java:502)
    at org.apache.coyote.http11.AbstractHttp11Processor.process(AbstractHttp11Processor.java:1132)
    at org.apache.coyote.AbstractProtocol$AbstractConnectionHandler.process(AbstractProtocol.java:684)
    at org.apache.tomcat.util.net.AprEndpoint$SocketProcessor.doRun(AprEndpoint.java:2527)
    at org.apache.tomcat.util.net.AprEndpoint$SocketProcessor.run(AprEndpoint.java:2516)
    at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
    at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61)
    at java.lang.Thread.run(Thread.java:748)
Caused by: java.lang.NoClassDefFoundError: com/fasterxml/jackson/databind/ObjectMapper
    at com.ndww.codec.Station.<init>(Station.java:13)
    at com.ndww.station.AirStation.<init>(AirStation.java:13)
    at com.ndww.codec.ProtocolAdapter.decode(ProtocolAdapter.java:25)
    ... 49 more
Caused by: java.lang.ClassNotFoundException: com.fasterxml.jackson.databind.ObjectMapper
    at java.net.URLClassLoader.findClass(URLClassLoader.java:381)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:424)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:357)
    ... 52 more

most of the relevant error reporting solutions that can be found on the Internet are caused by the version of jackson and the lack of relevant jar packages. I have tried it to no avail. This is pom.xml

    <dependency>
        <groupId>com.fasterxml.jackson.core</groupId>
        <artifactId>jackson-core</artifactId>
        <version>2.7.5</version>
    </dependency>
    <dependency>
        <groupId>com.fasterxml.jackson.core</groupId>
        <artifactId>jackson-databind</artifactId>
        <version>2.7.5</version>
    </dependency>
    <dependency>
        <groupId>com.fasterxml.jackson.core</groupId>
        <artifactId>jackson-annotations</artifactId>
        <version>2.7.5</version>
    </dependency>