I had the same problem and couldn't find an answer, but in the process I discovered the LifeCycleHandler which is even better for my purpose. It might be a good alternative for you as well.
Just as with the startup-extension you can reference a handler from your plugin.xml:
<property name="lifeCycleURI" value="platform:/plugin/<plug-in-id>/<path-to-handler-class>" />
In the handler you can use annotations to mark the method that is to be invoked as well as dependency injection:
public class StartupHandler {
@Inject
Foo bar;
@PostContextCreate
public void startup(IEclipseContext context) {
// do something
}
}
You can find a detailed example here: https://marcteufel.wordpress.com/2011/05/05/231/