Unable to initiate Firefox Browser using TestNg

Hi,
When I create java project to initiate firefox browser using below code driver initiating without any issues ( I tried 30, 37, 40, 41 versions).
But when I try to run mvn compile or TestNgTest then firefox browser not initiating any of the versions
I tried following two different ways in testng test and mvn compile, mvn test for above versions but browser is not initiating.

File pathBinary = new File("C:\\Program Files\\Mozilla Firefox\\firefox.exe");
FirefoxBinary Binary = new FirefoxBinary(pathBinary);
FirefoxProfile firefoxPro = new FirefoxProfile();
WebDriver driver = new FirefoxDriver(Binary, null);


WebDriver driver = new FirefoxDriver();

Error:

java.lang.NoClassDefFoundError: org/w3c/dom/ElementTraversal
at java.lang.ClassLoader.defineClass1(Native Method)
at java.lang.ClassLoader.defineClass(ClassLoader.java:760)
at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
at java.net.URLClassLoader.defineClass(URLClassLoader.java:455)
at java.net.URLClassLoader.access$100(URLClassLoader.java:73)
at java.net.URLClassLoader$1.run(URLClassLoader.java:367)
at java.net.URLClassLoader$1.run(URLClassLoader.java:361)
at java.security.AccessController.doPrivileged(Native Method)
at java.net.URLClassLoader.findClass(URLClassLoader.java:360)
at java.lang.ClassLoader.loadClass(ClassLoader.java:424)
at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:308)
at java.lang.ClassLoader.loadClass(ClassLoader.java:357)
at org.apache.xerces.parsers.AbstractDOMParser.startDocument(Unknown Source)
at org.apache.xerces.impl.dtd.XMLDTDValidator.startDocument(Unknown Source)
at org.apache.xerces.impl.XMLDocumentScannerImpl.startEntity(Unknown Source)
at org.apache.xerces.impl.XMLVersionDetector.startDocumentParsing(Unknown Source)
at org.apache.xerces.parsers.XML11Configuration.parse(Unknown Source)
at org.apache.xerces.parsers.XML11Configuration.parse(Unknown Source)
at org.apache.xerces.parsers.XMLParser.parse(Unknown Source)
at org.apache.xerces.parsers.DOMParser.parse(Unknown Source)
at org.apache.xerces.jaxp.DocumentBuilderImpl.parse(Unknown Source)
at javax.xml.parsers.DocumentBuilder.parse(DocumentBuilder.java:205)
at org.openqa.selenium.firefox.internal.FileExtension.readIdFromInstallRdf(FileExtension.java:98)
at org.openqa.selenium.firefox.internal.FileExtension.writeTo(FileExtension.java:61)
at org.openqa.selenium.firefox.internal.ClasspathExtension.writeTo(ClasspathExtension.java:64)
at org.openqa.selenium.firefox.FirefoxProfile.installExtensions(FirefoxProfile.java:443)
at org.openqa.selenium.firefox.FirefoxProfile.layoutOnDisk(FirefoxProfile.java:421)
at org.openqa.selenium.firefox.internal.NewProfileExtensionConnection.start(NewProfileExtensionConnection.java:95)
at org.openqa.selenium.firefox.FirefoxDriver.startClient(FirefoxDriver.java:271)
at org.openqa.selenium.remote.RemoteWebDriver.<init>(RemoteWebDriver.java:117)
at org.openqa.selenium.firefox.FirefoxDriver.<init>(FirefoxDriver.java:216)
at org.openqa.selenium.firefox.FirefoxDriver.<init>(FirefoxDriver.java:211)
at org.openqa.selenium.firefox.FirefoxDriver.<init>(FirefoxDriver.java:207)
at com.selenium.sample.SelPom3.TestA1.testA1(TestA1.java:52)
at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
at java.lang.reflect.Method.invoke(Method.java:483)
at org.testng.internal.MethodInvocationHelper.invokeMethod(MethodInvocationHelper.java:85)
at org.testng.internal.Invoker.invokeMethod(Invoker.java:696)
at org.testng.internal.Invoker.invokeTestMethod(Invoker.java:882)
at org.testng.internal.Invoker.invokeTestMethods(Invoker.java:1189)
at org.testng.internal.TestMethodWorker.invokeTestMethods(TestMethodWorker.java:124)
at org.testng.internal.TestMethodWorker.run(TestMethodWorker.java:108)
at org.testng.TestRunner.privateRun(TestRunner.java:767)
at org.testng.TestRunner.run(TestRunner.java:617)
at org.testng.SuiteRunner.runTest(SuiteRunner.java:348)
at org.testng.SuiteRunner.runSequentially(SuiteRunner.java:343)
at org.testng.SuiteRunner.privateRun(SuiteRunner.java:305)
at org.testng.SuiteRunner.run(SuiteRunner.java:254)
at org.testng.SuiteRunnerWorker.runSuite(SuiteRunnerWorker.java:52)
at org.testng.SuiteRunnerWorker.run(SuiteRunnerWorker.java:86)
at org.testng.TestNG.runSuitesSequentially(TestNG.java:1224)
at org.testng.TestNG.runSuitesLocally(TestNG.java:1149)
at org.testng.TestNG.run(TestNG.java:1057)
at org.testng.remote.RemoteTestNG.run(RemoteTestNG.java:115)
at org.testng.remote.RemoteTestNG.initAndRun(RemoteTestNG.java:207)
at org.testng.remote.RemoteTestNG.main(RemoteTestNG.java:178)
Caused by: java.lang.ClassNotFoundException: org.w3c.dom.ElementTraversal
at java.net.URLClassLoader$1.run(URLClassLoader.java:372)
at java.net.URLClassLoader$1.run(URLClassLoader.java:361)
at java.security.AccessController.doPrivileged(Native Method)
at java.net.URLClassLoader.findClass(URLClassLoader.java:360)
at java.lang.ClassLoader.loadClass(ClassLoader.java:424)
at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:308)
at java.lang.ClassLoader.loadClass(ClassLoader.java:357)
... 58 more