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Xtext 2.2.1 reports "The imported package is not on the classpath of this project which may lead to follow up errors." unless the package is in an explicitly imported package. It fails to consider exported packages from the closure of imported packages.
Finally found out what the cause of this confusing message is: Xtext now requires all referenced packages in open projects to have an Xtext nature. Therefore where this requiirement is violated please use the alternative message (and quick fix). "The imported package does not have the Xtext nature."