I have configured workstation up this step in get started (OS redhat 6.5). I have launched a node. I modified a cookbook like that:
myCookbook/metadata.rb
See here
Or just type knife cookbook upload --help and it will show you the following line (along others):
--include-dependencies Also upload cookbook dependencies
So knife cookbook upload myCookbook --include-dependencies is your answer
You'll need to have the maven cookbook on your workstation too, by knife cookbook site install maven or any other way to have a directory called maven in your local cookbook_path containing a cookbook where the metatada.rb file as a key name with value maven