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I've tried start picket link examples on tomcat 7, but I haven't had success. After researched I think the problem is: tomcat 7 modified the inheritance of org.apache.catalina.valves.ValveBase began implement org.apache.catalina.Lifecycle and modified the acess to final of methods init, start and end in parent of ValveBase org.apache.catalina.util.LifecycleBase. We can see that in the tomcat 7 api http://tomcat.apache.org/tomcat-7.0-doc/api/.
The picketLinks class org.picketlink.identity.federation.bindings.tomcat.idp.IDPWebBrowserSSOValve extends
org.apache.catalina.valves.ValveBase implements org.apache.catalina.Lifecycle and override the method init, start and end. Because of this the tomcat 7 don't start with picketlink libs on the classpath.