I'm seeing the same error even If I use /serviceValidate endpoint. As soon 
as I turn on CASValidateSAML, I'm getting the error

Here is my mod_auth_cas. (I've used David Curry's Guide )

LoadModule auth_cas_module modules/mod_auth_cas.so

<Directory "/var/www/html/secured-by-cas">
   <IfModule mod_auth_cas.c>
        AuthType CAS
        CASAuthNHeader  On
    Require valid-user

<Directory "/var/www/html/return-mapped">
    <IfModule mod_auth_cas.c>
        AuthType        CAS
        CASAuthNHeader  On
    Require valid-user

<IfModule mod_auth_cas.c>
   CASCertificatePath /etc/pki/tls/certs/
    CASCookiePath /var/lib/cas/
    CASValidateURL https://<farm-name>:8443/cas/serviceValidate
#    CASValidateURL https://<farm-name>:8443/cas/samlValidate
    CASLoginURL https://<farm-name>:8443/cas/login
    CASSSOEnabled         On
    CASDebug              On
    CASValidateSAML       On
        LogLevel debug

>From the CAS Server, I do see the SERVICE_TICKET_CREATED but I don't see 
the Service Validation
But I'm seeing the following warning.

2018-02-09 15:55:50,016 WARN [org.springframework.web.servlet.PageNotFound] 
- <Request method 'POST' not supported>

I'm using CAS 5.2.2 and mod_auth_cas from github 

And I've added support for SAML when I build the CAS



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