Não há nenhum tutorial de ação mapeada para namespace / e nome de ação

Não consigo executar meu aplicativo struts2. Estou usando o eclipse indigo IDE, tomcat 7 e jdk 1.7.

Os arquivos jar que eu incluí são:

commons-logging-1.0.4.jar,freemarker-2.3.8.jar,ognl- 2.6.11.jar,struts2-core-2.0.11.jar,xwork-2.0.4.jar

Eu coloquei ostruts.xml na pasta de classes emWEB-INF e eu também tentei colocar em
src pasta, mas eu não consegui fazer isso. Estou recebendo o erro abaixo no console

There is no Action mapped for namespace / and action name tutorial. - [unknown    location]
index.jsp
<%@ page language="java" contentType="text/html; charset=ISO-8859-1" pageEncoding="ISO-8859-1"%>
<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"   
"http://www.w3.org/TR/html4/loose.dtd">  
<html>  
<head>  
    <meta http-equiv="Content-Type" content="text/html; charset=ISO-8859-1">  
    <title>Insert title here</title>  
</head>  
<body>  
    <form action="./tutorial.action">  
        Username: <input type="text" />  
        <input type="submit" value="Submit" />  
    </form>  
</body>  
</html>  
struts.xml
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE struts PUBLIC "-//Apache Software Foundation//DTD Struts Configuration  
2.0//EN" "http://struts.apache.org/dtds/struts-2.0.dtd">
<struts>
    <package name="default" extends="struts-default">
        <action name="tutorial" class="com.test.TutorialAction">
            <result name="success">/success.jsp</result>
            <result name="failure">/failure.jsp</result>
        </action>
    </package>
</struts>
web.xml
<?xml version="1.0" encoding="UTF-8"?>
<web-app xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"   
xmlns="http://java.sun.com/xml/ns/javaee"   
xmlns:web="http://java.sun.com/xml/ns/javaee/web-
app_2_5.xsd" xsi:schemaLocation="http://java.sun.com/xml/ns/javaee   
http://java.sun.com/xml/ns/javaee/web-app_3_0.xsd" id="WebApp_ID" version="3.0">

    <display-name>Struts2Starter</display-name>
    <filter>
        <filter-name>struts2</filter-name>
        <filter-class>org.apache.struts2.dispatcher.FilterDispatcher</filter-class> 
    </filter>
    <filter-mapping>
        <filter-name>struts2</filter-name>
        <url-pattern>/*</url-pattern>
    </filter-mapping>
    <welcome-file-list>
        <welcome-file>index.jsp</welcome-file>
    </welcome-file-list>
    </web-app>
TutorialAction.java
package com.test;   

public class TutorialAction {   
    public String execute() {
        System.out.println("Hello from execute");   
        return "success";   
    }
}

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