POST not supported in custom Servlet as @Bean in Spring Boot

I'm trying to integrate a 3rd party servlet into my Spring Boot application and when I try to submit a POST to the servlet, I see the following in the logs:

PageNotFound: Request method 'POST' not supported

I've made a simple test that show this. I started using an auto generated Spring Boot project. Then I created the following Servlet:

public class TestServlet extends HttpServlet {
    private static final Logger log = LoggerFactory.getLogger(TestServlet.class);

    @Override
    protected void doPost(HttpServletRequest req, HttpServletResponse resp) throws ServletException, IOException {
        super.doPost(req, resp); //To change body of generated methods, choose Tools | Templates.
        log.info("doPost was called!!");
    }

}

Then I my created Configuration like so:

@Configuration
public class ServletConfig {
    @Bean //exposes the TestServlet at /test
    public Servlet test() {
        return new TestServlet();
    }        
}

Then I run the application within Tomcat7. I see in the logs:

ServletRegistrationBean: Mapping servlet: 'test' to [/test/]

Then I try to hit the endpoint with cUrl like so:

curl -v http://localhost:8080/test -data-binary '{"test":true}'

or

curl -XPOST -H'Content-type: application/json' http://localhost:8080/test -d '{"test":true}'

I've tried adding a @RequestMapping, but that didn't work either. Can anyone help me figure out how to support another Servlet inside my Spring Boot application?

You can find the sample application here: http://ift.tt/1zrc8tg

Thanks!