My prev sollution was for the case when sqoop installed from packages.

When sqoop installed from parcels:

cd /opt/cloudera/parcels/CDH/lib/hadoop/client
sudo ln -s ../../hadoop-hdfs/lib/jackson-mapper-asl-1.8.8.jar .
sudo ln -s ../../hadoop-hdfs/lib/jackson-core-asl-1.8.8.jar .