If you have...

1. included all necessary jars

2. Configured build path correctly
3. added them all in deployment assembly
Correctly.
then also you getting "java.lang.ClassNotFoundException:
org.apache.struts2.dispatcher.FilterDispatcher" error then you could be doing below things
wrong.

solution:
check your struts2-core-x.x.jar version.
-->if it is struts2-core-2.5.jar then change your filter class tag value in web.xml to
<filter-class>
org.apache.struts2.dispatcher.filter.StrutsPrepareAndExecuteFilter
</filter-class>
-->if it is struts2-core-2.1.3.jar then change your filter class tag value in web.xml to
<filter-class>
org.apache.struts2.dispatcher.FilterDispatcher
</filter-class>
FilterDispatcher is deprecated since Struts 2.1.3. If you are working with older versions then
user above solution.

-->if it is struts2-core-2.3.X.jar then change your filter class tag value in web.xml to
<filter-class>
org.apache.struts2.dispatcher.ng.filter.StrutsPrepareAndExecuteFilter
</filter-class>
Reason behind all this is struts 2 controllers are placed in different location in different
version of struts2-core jar and some time they are called by different name as you can see
in 2.1.3.