Here is the configuration that worked after all:
<build>
<sourceDirectory>src</sourceDirectory>
<plugins>
<plugin>
<groupId>com.jayway.maven.plugins.android.generation2</groupId>
<artifactId>android-maven-plugin</artifactId>
<configuration>
<manifest>
<debuggable>true</debuggable>
</manifest>
<proguard>
<config>proguard.cfg</config>
<skip>false</skip>
</proguard>
<sdk>
<platform>16</platform>
</sdk>
<test>
<skip>true</skip>
</test>
<undeployBeforeDeploy>true</undeployBeforeDeploy>
</configuration>
<extensions>true</extensions>
</plugin>
</plugins>
</build>