"missing required Java project" error when opening android maven projects

Orginally reported by @Fr0stM0urne on https://github.com/microsoft/vscode-java-debug/issues/1329:

Trying to debug a java project (FlowDroid) using vscode. The project is built using maven. Getting this error when using "Run Debug" on the main function of a java file in the project: Project 'soot-infoflow-summaries' is missing required Java project: 'soot'

Tried cleaning java workspace and restarting java server but it did not fix the issue. These are the error logs of vscode java server:

!ENTRY org.eclipse.jdt.ls.core 4 0 2023-04-17 17:43:48.374
!MESSAGE Error occured while building workspace. Details: 
 message: The project cannot be built until build path errors are resolved; code: 0; resource: ~/FlowDroid/soot-infoflow;
 message: Project 'soot-infoflow' is missing required Java project: 'soot'; code: 964; resource: ~/FlowDroid/soot-infoflow;
 message: The project was not built since it depends on soot-infoflow, which has build path errors; code: 0; resource: ~/FlowDroid/soot-infoflow-android;
 message: The project cannot be built until its prerequisite soot-infoflow-android is built. Cleaning and building all projects is recommended; code: 0; resource: ~/FlowDroid/soot-infoflow-cmd;
 message: The project was not built since it depends on soot-infoflow, which has build path errors; code: 0; resource: ~/FlowDroid/soot-infoflow-integration;
 message: Project 'soot-infoflow-summaries' is missing required Java project: 'soot'; code: 964; resource: ~/FlowDroid/soot-infoflow-summaries;
 message: The project cannot be built until build path errors are resolved; code: 0; resource: ~/FlowDroid/soot-infoflow-summaries;

Steps To Reproduce

1. Install sdkman using curl -s "https://get.sdkman.io" | bash
2. Install maven using sdk install maven 3.8.7
3. Clone FlowDroid using git clone https://github.com/secure-software-engineering/FlowDroid.git
4. Set ANDROID_JARS environment variable. (See FlowDroid git repo for details)
5. Install FlowDroid using mvn -DskipTests install. (See Flowdroid git repo for details)
6. Open FlowDroid in VS code and go to soot-infoflow-cmd/src/soot/jimple/infoflow/cmd/MainClass.java.
   Run/Debug the main function

Environment

• Operating System: Ubuntu 22.04.2 LTS x86_64
• JDK version: 1.8
• Visual Studio Code version: 1.77.3
• Java extension version: v0.25.10
• Java Debugger extension version: v0.49.1

Additional Information:

The missing project soot is located in ~/.m2/repository/org/soot-oss

Beginne mit der gemeldeten FlowDroid-Reproduktion und den Fehlern beim Importieren des Java-Projekts bzw. beim Build-Pfad aus den Logs des vscode-java-Sprachservers. Reproduziere den Fehler, indem du soot-infoflow-cmd/src/soot/jimple/infoflow/cmd/MainClass.java öffnest und nach dem Maven-Build die main-Funktion ausführst oder debuggst. Als erledigt gilt die Aufgabe, wenn der Fehler „missing required Java project“ behoben ist und die main-Funktion ausgeführt oder debuggt werden kann.