I have a complex project where there are many directories that have POM files, but only some of which are sub-modules (possibly transitively) of a particular parent project.
mvn help:evaluate -Dexpression=project.modules
mvn help:evaluate -Dexpression=project.modules[0]
mvn help:evaluate -Dexpression=project.modules[1]
IFS=$'\n'
modules=($(mvn help:evaluate -Dexpression=project.modules | grep -v "^\[" | grep -v "<\/*strings>" | sed 's/<\/*string>//g' | sed 's/[[:space:]]//'))
for module in "${modules[@]}"
do
echo "$module"
done