This was resolved by downloading the latest add-on for hdp 2.2 available at Download add-ons from http://public-repo-1.hortonworks.com/HDP/tools/2.2.4.2/hdp-connector-for-teradata-1.3.4.2.2.4.2-2-distro.tar.gz
Also specify connection-manager to the sqoop command.
Thanks,
Arti Wadhwani