I had this happen as well.  I fixed it by adding the following line to the 
overlay etc/cas/config/cas.properties file:

cas.serviceRegistry.initFromJson=true

This seemed to cause the default service registry description files to be 
read in but they only allow HTTPS and IMAPS services.  So in addition I 
also created the following directory structure in the overlay:  
src/main/webapp/WEB-INF/classes/services/ and then added a file named 
HTTP-10000003.json with the following content:

{
  /*
    Generic service definition that applies to http urls
    that wish to register with CAS for authentication.
  */
  "@class" : "org.apereo.cas.services.RegexRegisteredService",
  "serviceId" : "^http://.*";,
  "name" : "HTTP",
  "id" : 10000003,
}

By adding this extra service definition I was also able to use CAS with my 
HTTP urls as well.

Note:  I also tried to set 
cas.serviceRegistry.config.location=file:/etc/cas/services in the 
cas.properties file and then place the new service definition file there 
but it never seemed to want to read it.  I think I did stumble across one 
bug report that indicated that setting it to anything besides 
classpath:/services wasn't working but that it was fixed in the v5.2.0.

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