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mvn spring-boot:run -Drun.jvmArguments="-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=5005"

<project>
  ...
  <build>
    ...
    <plugins>
      ...
      <plugin>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-maven-plugin</artifactId>
        <version>1.3.0.RELEASE</version>
        <configuration>
          <jvmArguments>
            -Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=5005
          </jvmArguments>
        </configuration>
        ...
      </plugin>
      ...
    </plugins>
    ...
  </build>
  ...
</project>