I followed this post and created a custom URL application. The action is getting called but the url shows with session id like
http://localhost:8080/CustomURL
First of all you should get rid of action extension, if you don't want user to think their name has an extension.
Next the pattern matcher should be regex.
Action mapping
welcome.jsp
In the JSP you don't need to use form tag, but anchor tag. And use known names.
Click my name