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Where did you expect it to go? Nothing in your code specifies an initial landing page. Those intercept URL's are for defining the privileges required to view those URL's. If a user tries to access one of the admin pages for example Spring Security will prevent this and return a 403.
says the that once logged in (regardless of role) send the user to /index.
Now you could create a custom AuthenticationSuccessHandler, but a solution less coupled with security would be to change that default target url to something and have a controller make the determination of where they go:
You can do this because Spring Security will put the authenticated role onto the HttpServletRequest.
WARN : org.springframework.web.servlet.PageNotFound - No mapping found for HTTP request with URI [/GesTaxi/jsp/admin/menuAdmin] in DispatcherServlet with name 'spring'
WARN : org.springframework.web.servlet.PageNotFound - No mapping found for HTTP request with URI [/GesTaxi/users/menu] in DispatcherServlet with name 'spring'
First of all your Warning is telling you there are no mappings for that URL pattern. I am going to assume you have some classes annotated with @Controller that have mappings for this. You need to register those. Typically you would do this by adding a component scanner in your servlet xml
You would change that base package to the package that has all of your controllers in it. This will allow Spring to pick up those classes and register them and their request mappings as Spring beans.
My next suggestion is use the latest Spring. Assuming you are doing that you should not use PropertyPlaceholderConfigurer but rather PropertySourcesPlaceholderConfigurer. You should also not use DefaultAnnotationHandlerMapping. This was replaced with the much more flexible RequestMappingHandlerMapping. You would register your interceptors in xml by using the mvc:interceptors tag
Similarly the AnnotationHandlerAdapter has been replaced with the RequestMappingHandlerAdapter. For now I would remove that as well.
Also note that the Spring is is moving to the component model. That means you can do this configuration in Java rather than XML. If you are more comfortable with XML right now that is fine but if you are just getting started it might behoove you to learn the component model first. In this case you would define your beans in a class with an @Configuration annotation.