Embedded tomcat 7 servlet 3.0 annotations not working

I have a stripped down test project which contains a Servlet version 3.0, declared with annotations like so:

    @WebServlet("/test")
public class TestServlet extends HttpServlet {

    private static final long serialVersionUID = -3010230838088656008L;

    @Override
    public void doGet(HttpServletRequest request, HttpServletResponse response) throws IOException{
        response.getWriter().write("Test");
        response.getWriter().flush();
        response.getWriter().close();
    }
}

I also have a web.xml file like so:

<web-app xmlns="http://java.sun.com/xml/ns/javaee"
      xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
      xsi:schemaLocation="http://java.sun.com/xml/ns/javaee http://java.sun.com/xml/ns/javaee/web-app_3_0.xsd"
      version="3.0">

      <servlet>
        <servlet-name>testServlet</servlet-name>
        <servlet-class>g1.TestServlet</servlet-class>
      </servlet>      

      <servlet-mapping>
        <servlet-name>testServlet</servlet-name>
        <url-pattern>/testWebXml</url-pattern>
      </servlet-mapping>

</web-app> 

I've tried to make a JUnit test using Embedded Tomcat 7. When I start the Embedded Tomcat I can only access the servlet via the url-pattern declared in web.xml (/testWebXml). If I try to access it via the url-pattern declared via annotation (/test) it sais 404 page not found.

Here's the code for my test:

    String webappDirLocation = "src/main/webapp/";
    Tomcat tomcat = new Tomcat();
    tomcat.setPort(8080);

    tomcat.addWebapp("/jerseyTest", new File(webappDirLocation).getAbsolutePath());

    tomcat.start();
    tomcat.getServer().await();

Just to make sure I've set up my project correctly, I've also installed an actual Tomcat 7 and deployed the war. This time, both web.xml declared url and annotation url f