guice:embedded
The guice:embedded goal of the Guice Maven Plugin is used to run your Camel Guice configurations in the same JVM as Maven, so it should startup a bit faster than guice:run. Though sometimes we all get the odd classpath issue; so sometimes forking a new JVM can work around any strange Maven classpath issues.
A good example application to get you started is the Guice JMS Example.
cd examples/camel-example-guice-jms mvn guice:embedded