Are you referring to this project?
https://jolokia.org/index.html
If so, why are you trying to deploy such an ancient version (7 years old)?
According to the project pom of that version, this was built against Servlet 2.4:
WildFly 24.0.1 implements Java EE 8, which includes version 4.0 of the Servlet specification, and is not binary compatible with code compiled for Servlet 2.4.
There's your problem.