Documentation upto 1.99.6 refers to a non-existing catalina.properties. Web search lead to several non-working solutions. Some of the working solutions suggested to copy required hadoop libraries to to sqoop lib directory. Finally stumbled across the documentation for 1.99.7 installation instructions at htps://sqoop.apache.org/docs/1.99.7/admin/Installation.html. The documentation is very clear that environment variables related to HADOOP have to be set. Based on these instructions added HADOOP_HOME to the user profile, and encountered the following error:
Caused by: org.apache.sqoop.common.SqoopException: MAPREDUCE_0002:Failure on submission engine initialization - Invalid Hadoop configuration directory (not a directory or permission issues): /etc/hadoop/conf/
Based on the solution presented at: http://brianoneill.blogspot.com/2014/10/sqoop-1993-w-hadoop-2-installation.html, modified the property org.apache.sqoop.submission.engine.mapreduce.configuration.diretory in <SQOOP_HOME>/conf/sqoop.properties file to point to the correct hdfs configuration.
org.apache.sqoop.submission.engine.mapreduce.configuration.directory=<location to hadoop configuration, e.g /etc/hadoop/conf>
Finally <SQOOP_HOME>/sqoop.sh server start resulted in a successful start of sqoop sever with the following output:
etting conf dir: bin/../conf
Sqoop home directory: <sqoop home>/sqoop
Starting the Sqoop2 server...
0 [main] INFO org.apache.sqoop.core.SqoopServer - Initializing Sqoop server.
7 [main] INFO org.apache.sqoop.core.PropertiesConfigurationProvider - Starting config file poller thread
Sqoop2 server started.