By default the spring mvc defines 3 different request handler adapters, they are
org.springframework.web.servlet.mvc.HttpRequestHandlerAdapter
org.springframework.web.servlet.mvc.SimpleControllerHandlerAdapter
org.springframework.web.servlet.mvc.annotation.AnnotationMethodHandlerAdapter
So you need not have to define them in your context file, but if you define at least one handler adapter in your context files, spring will not create the default adapters.
In your configuraion you are using <mvc:annotation-driven />
, according to this spring documentation this will cause the context to define both "DefaultAnnotationHandlerMapping" and "AnnotationMethodHandlerAdapter". Since we are creating the "AnnotationMethodHandlerAdapter" in our context definition spring will not create the other two handlerAdapters. That is why you are getting the said exception.
The beanNameUrlMapping needs the handlerAdapter "SimpleControllerHandlerAdapter".
To resolve this exception you can simply create a new bean of type "SimpleControllerHandlerAdapter" in your context.
<bean
class="org.springframework.web.servlet.mvc.SimpleControllerHandlerAdapter">
</bean>