先上结论：
凉凉凉透心凉
webots2021b刚发布时间不长，其ROS2接口包也不全。
2021b（win10）安装包小，很多库需要启动时联网下载。
很多节点不支持windows哦！如下：
还调试个毛线啊……哈哈哈哈
全记录如下：
代码语言：javascript代码运行次数：0运行复制
************************************************************************ Visual Studio 2019 Developer Command Prompt v16.9.3** Copyright (c) 2021 Microsoft Corporation**********************************************************************C:ros_ws>cd webots_ros2C:ros_wswebots_ros2>dir 驱动器 C 中的卷没有标签。 卷的序列号是 F0DD-1779 C:ros_wswebots_ros2 的目录2021/07/27 07:07 .2021/07/27 07:07 ..2021/07/27 07:07 src 0 个文件 0 字节 3 个目录 50,018,041,856 可用字节C:ros_wswebots_ros2>colcon build[1.899s] root DEBUG Using proactor: IocpProactorStarting >>> webots_ros2_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importer--- stderr: webots_ros2_importererror: package directory 'webots_ros2_importerurdf2webotsurdf2webots' does not exist---Failed <<< webots_ros2_importer [3.66s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [4.28s]Aborted <<pip3 install urdf2webotsCollecting urdf2webots Downloading urdf2webots-1.0.9-py3-none-any.whl (27 kB)Requirement already satisfied: numpy in c:optrosfoxyx64libsite-packages (from urdf2webots) (1.19.2)Requirement already satisfied: Pillow in c:optrosfoxyx64libsite-packages (from urdf2webots) (8.3.1)Processing c:userszhangrelayappdatalocalpipcachewheels2eca48a29e76490d0f2a26135f92ba95ea2d997d606db50cc9af0f6epycollada-0.7.1-py3-none-any.whlRequirement already satisfied: rospkg in c:optrosfoxyx64libsite-packages (from urdf2webots) (1.2.8)Requirement already satisfied: python-dateutil>=2.2 in c:optrosfoxyx64libsite-packages (from pycollada>=0.6->urdf2webots) (2.8.1)Requirement already satisfied: catkin-pkg in c:optrosfoxyx64libsite-packages (from rospkg->urdf2webots) (0.4.22)Requirement already satisfied: distro in c:optrosfoxyx64libsite-packages (from rospkg->urdf2webots) (1.5.0)Requirement already satisfied: PyYAML in c:optrosfoxyx64libsite-packages (from rospkg->urdf2webots) (5.3.1)Requirement already satisfied: six>=1.5 in c:optrosfoxyx64libsite-packages (from python-dateutil>=2.2->pycollada>=0.6->urdf2webots) (1.15.0)Requirement already satisfied: pyparsing in c:optrosfoxyx64libsite-packages (from catkin-pkg->rospkg->urdf2webots) (2.4.7)Requirement already satisfied: docutils in c:optrosfoxyx64libsite-packages (from catkin-pkg->rospkg->urdf2webots) (0.16)Installing collected packages: pycollada, urdf2webotsSuccessfully installed pycollada-0.7.1 urdf2webots-1.0.9WARNING: You are using pip version 20.2.3; however, version 21.2.1 is available.You should consider upgrading via the 'c:optrosfoxyx64python.exe -m pip install --upgrade pip' command.C:ros_wswebots_ros2>colcon build[1.542s] root DEBUG Using proactor: IocpProactorStarting >>> webots_ros2_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importer--- stderr: webots_ros2_importererror: package directory 'webots_ros2_importerurdf2webotsurdf2webots' does not exist---Failed <<< webots_ros2_importer [3.14s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [3.47s]Aborted <<colcon build[1.540s] root DEBUG Using proactor: IocpProactorStarting >>> webots_ros2_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importer--- stderr: webots_ros2_msgsCMake Error at CMakeLists.txt:23 (find_package): By not providing "Findvision_msgs.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "vision_msgs", but CMake did not find one. Could not find a package configuration file provided by "vision_msgs" with any of the following names: vision_msgsConfig.cmake vision_msgs-config.cmake Add the installation prefix of "vision_msgs" to CMAKE_PREFIX_PATH or set "vision_msgs_DIR" to a directory containing one of the above files. If "vision_msgs" provides a separate development package or SDK, be sure it has been installed.---Failed <<< webots_ros2_msgs [2.81s, exited with code 1]Aborted <<< webots_ros2_importer [3.20s]Aborted <<colcon build[1.541s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_ur_e_description [2.64s]--- stderr: webots_ros2_importererror: package directory 'webots_ros2_importerurdf2webotsurdf2webots' does not exist---Failed <<< webots_ros2_importer [3.36s, exited with code 1]Aborted <<colcon build[1.545s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importer--- stderr: webots_ros2_importererror: package directory 'webots_ros2_importerurdf2webotsurdf2webots' does not exist---Failed <<< webots_ros2_importer [3.22s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [3.56s]Aborted <<colcon build[1.566s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importer--- stderr: webots_ros2_importererror: package directory 'webots_ros2_importerurdf2webotsurdf2webots' does not exist---Failed <<< webots_ros2_importer [3.14s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [3.48s]Aborted <<colcon build[1.550s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_ur_e_description [3.77s]Finished <<< webots_ros2_importer [3.70s][Processing: vision_msgs]Finished <<>> webots_ros2_msgsFinished <<>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<>> webots_ros2_tutorialsFinished <<>> webots_ros2_demosFinished <<< webots_ros2_mavic [12.7s]Finished <<< webots_ros2_examples [13.0s]Finished <<< webots_ros2_tesla [12.6s]Finished <<< webots_ros2_epuck [13.3s]Finished <<< webots_ros2_tiago [12.5s]Finished <<< webots_ros2_tutorials [5.98s]Finished <<< webots_ros2_demos [6.72s]Failed <<colcon build[1.543s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_importer [3.58s]Finished <<< webots_ros2_ur_e_description [3.75s]Finished <<>> webots_ros2_msgsFinished <<>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<>> webots_ros2_tutorialsFinished <<< webots_ros2_universal_robot [12.4s]Finished <<< webots_ros2_tesla [11.8s]Finished <<< webots_ros2_examples [12.4s]Finished <<< webots_ros2_mavic [12.3s]Finished <<< webots_ros2_epuck [12.8s]Finished <<>> webots_ros2_demosFinished <<< webots_ros2_tutorials [6.72s]Failed <<< webots_ros2_driver [18.7s, exited with code 1]Aborted <<colcon build[1.554s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_importer [3.64s]Finished <<< webots_ros2_ur_e_description [3.78s]Finished <<>> webots_ros2_msgsFinished <<>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<>> webots_ros2_tutorialsFinished <<< webots_ros2_universal_robot [13.2s]Finished <<< webots_ros2_tiago [12.3s]Finished <<< webots_ros2_mavic [12.8s]Finished <<< webots_ros2_tesla [12.7s]Finished <<< webots_ros2_epuck [13.3s]Finished <<>> webots_ros2_demosFailed <<< webots_ros2_driver [19.1s, exited with code 1]Finished <<< webots_ros2_tutorials [7.02s]Aborted <<colcon build[1.562s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_importer [3.66s]Finished <<< webots_ros2_ur_e_description [3.81s]Finished <<>> webots_ros2_msgsFinished <<>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<>> webots_ros2_tutorialsFinished <<< webots_ros2_universal_robot [13.4s]Finished <<< webots_ros2_tiago [12.5s]Finished <<< webots_ros2_mavic [13.0s]Finished <<< webots_ros2_examples [13.4s]Finished <<< webots_ros2_epuck [13.6s]Finished <<>> webots_ros2_demosFinished <<< webots_ros2_tutorials [9.56s]Finished <<< webots_ros2_demos [13.4s]Failed <<cd ..C:ros_ws>git clone -r https://github.com/cyberbotics/webots_ros2.giterror: unknown switch `r'usage: git clone [] [--] [] -v, --verbose be more verbose -q, --quiet be more quiet --progress force progress reporting --reject-shallow don't clone shallow repository -n, --no-checkout don't create a checkout --bare create a bare repository --mirror create a mirror repository (implies bare) -l, --local to clone from a local repository --no-hardlinks don't use local hardlinks, always copy -s, --shared setup as shared repository --recurse-submodules[=] initialize submodules in the clone --recursive[=] alias of --recurse-submodules -j, --jobs number of submodules cloned in parallel --template directory from which templates will be used --reference reference repository --reference-if-able reference repository --dissociate use --reference only while cloning -o, --origin use instead of 'origin' to track upstream -b, --branch checkout instead of the remote's HEAD -u, --upload-pack path to git-upload-pack on the remote --depth create a shallow clone of that depth --shallow-since create a shallow clone since a specific time --shallow-exclude deepen history of shallow clone, excluding rev --single-branch clone only one branch, HEAD or --branch --no-tags don't clone any tags, and make later fetches not to follow them --shallow-submodules any cloned submodules will be shallow --separate-git-dir separate git dir from working tree -c, --config set config inside the new repository --server-option option to transmit -4, --ipv4 use IPv4 addresses only -6, --ipv6 use IPv6 addresses only --filter object filtering --remote-submodules any cloned submodules will use their remote-tracking branch --sparse initialize sparse-checkout file to include only files at rootC:ros_ws>git clone https://github.com/cyberbotics/webots_ros2.gitCloning into 'webots_ros2'...remote: Enumerating objects: 7787, done.remote: Counting objects: 100% (649/649), done.remote: Compressing objects: 100% (378/378), done.remote: Total 7787 (delta 400), reused 425 (delta 255), pack-reused 7138Receiving objects: 100% (7787/7787), 52.02 MiB | 1.11 MiB/s, done.Resolving deltas: 100% (5434/5434), done.C:ros_ws>cd webots_ros2C:ros_wswebots_ros2>colcon build[1.562s] root DEBUG Using proactor: IocpProactorStarting >>> webots_ros2_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importer--- stderr: webots_ros2_importererror: package directory 'webots_ros2_importerurdf2webotsurdf2webots' does not exist---Failed <<< webots_ros2_importer [3.39s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [3.84s]Aborted <<colcon build[1.525s] root DEBUG Using proactor: IocpProactorStarting >>> webots_ros2_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_ur_e_description [3.62s]Finished <<< webots_ros2_importer [3.55s]--- stderr: webots_ros2_msgsCMake Error at CMakeLists.txt:23 (find_package): By not providing "Findvision_msgs.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "vision_msgs", but CMake did not find one. Could not find a package configuration file provided by "vision_msgs" with any of the following names: vision_msgsConfig.cmake vision_msgs-config.cmake Add the installation prefix of "vision_msgs" to CMAKE_PREFIX_PATH or set "vision_msgs_DIR" to a directory containing one of the above files. If "vision_msgs" provides a separate development package or SDK, be sure it has been installed.---Failed <<colcon build[1.530s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_ur_e_description [2.66s]Finished <<< webots_ros2_importer [3.62s][Processing: vision_msgs]Finished <<>> webots_ros2_msgsFinished <<>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<>> webots_ros2_tutorialsFinished <<>> webots_ros2_demosFinished <<< webots_ros2_mavic [12.5s]Finished <<< webots_ros2_examples [12.7s]Finished <<< webots_ros2_tesla [12.3s]Finished <<< webots_ros2_epuck [13.0s]Finished <<< webots_ros2_tiago [12.2s]Finished <<< webots_ros2_tutorials [5.39s]Finished <<< webots_ros2_demos [5.97s]Failed <<git clone --recurse-submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2Cloning into 'src/webots_ros2'...remote: Enumerating objects: 7787, done.remote: Counting objects: 100% (649/649), done.remote: Compressing objects: 100% (378/378), done.remote: Total 7787 (delta 400), reused 425 (delta 255), pack-reused 7138Receiving objects: 100% (7787/7787), 52.02 MiB | 552.00 KiB/s, done.Resolving deltas: 100% (5434/5434), done.Submodule 'webots_ros2_driver/webots' (https://github.com/cyberbotics/webots-libcontroller.git) registered for path 'webots_ros2_driver/webots'Submodule 'webots_ros2_importer/webots_ros2_importer/urdf2webots' (https://github.com/cyberbotics/urdf2webots.git) registered for path 'webots_ros2_importer/webots_ros2_importer/urdf2webots'Cloning into 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_driver/webots'...fatal: unable to access 'https://github.com/cyberbotics/webots-libcontroller.git/': OpenSSL SSL_read: Connection was reset, errno 10054fatal: clone of 'https://github.com/cyberbotics/webots-libcontroller.git' into submodule path 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_driver/webots' failedFailed to clone 'webots_ros2_driver/webots'. Retry scheduledCloning into 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_importer/webots_ros2_importer/urdf2webots'...remote: Enumerating objects: 2909, done.remote: Counting objects: 100% (169/169), done.remote: Compressing objects: 100% (131/131), done.remote: Total 2909 (delta 104), reused 68 (delta 38), pack-reused 2740Receiving objects: 100% (2909/2909), 111.23 MiB | 613.00 KiB/s, done.Resolving deltas: 100% (1352/1352), done.Cloning into 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_driver/webots'...remote: Enumerating objects: 1473, done.remote: Counting objects: 100% (1473/1473), done.remote: Compressing objects: 100% (553/553), done.remote: Total 1473 (delta 1138), reused 1192 (delta 884), pack-reused 0Receiving objects: 100% (1473/1473), 5.23 MiB | 464.00 KiB/s, done.Resolving deltas: 100% (1138/1138), done.Submodule path 'webots_ros2_driver/webots': checked out '9b63446cc79dfb17cf07fbf35f2b4b0b5213b410'Submodule path 'webots_ros2_importer/webots_ros2_importer/urdf2webots': checked out 'da10dedd08c3a7aa96faf93b83ee11791a0cc9c6'Submodule 'tests/sources/motoman' (https://github.com/ros-industrial/motoman.git) registered for path 'webots_ros2_importer/webots_ros2_importer/urdf2webots/tests/sources/motoman'Cloning into 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_importer/webots_ros2_importer/urdf2webots/tests/sources/motoman'...fatal: unable to access 'https://github.com/ros-industrial/motoman.git/': OpenSSL SSL_read: Connection was reset, errno 10054fatal: clone of 'https://github.com/ros-industrial/motoman.git' into submodule path 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_importer/webots_ros2_importer/urdf2webots/tests/sources/motoman' failedFailed to clone 'tests/sources/motoman'. Retry scheduledCloning into 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_importer/webots_ros2_importer/urdf2webots/tests/sources/motoman'...fatal: unable to access 'https://github.com/ros-industrial/motoman.git/': OpenSSL SSL_read: Connection was reset, errno 10054fatal: clone of 'https://github.com/ros-industrial/motoman.git' into submodule path 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_importer/webots_ros2_importer/urdf2webots/tests/sources/motoman' failedFailed to clone 'tests/sources/motoman' a second time, abortingSubmodule path 'webots_ros2_driver/webots': checked out '9b63446cc79dfb17cf07fbf35f2b4b0b5213b410'Failed to recurse into submodule path 'webots_ros2_importer/webots_ros2_importer/urdf2webots'C:ros_wswebots_ros2>git clone --recurse-submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2fatal: destination path 'src/webots_ros2' already exists and is not an empty directory.C:ros_wswebots_ros2>colcon build[1.518s] root DEBUG Using proactor: IocpProactorStarting >>> webots_ros2_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_ur_e_description [3.00s]Finished <<< webots_ros2_importer [4.16s]--- stderr: webots_ros2_msgsCMake Error at CMakeLists.txt:23 (find_package): By not providing "Findvision_msgs.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "vision_msgs", but CMake did not find one. Could not find a package configuration file provided by "vision_msgs" with any of the following names: vision_msgsConfig.cmake vision_msgs-config.cmake Add the installation prefix of "vision_msgs" to CMAKE_PREFIX_PATH or set "vision_msgs_DIR" to a directory containing one of the above files. If "vision_msgs" provides a separate development package or SDK, be sure it has been installed.---Failed <<colcon build[1.531s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_importer [3.55s]Finished <<< webots_ros2_ur_e_description [3.69s][Processing: vision_msgs]Finished <<>> webots_ros2_msgsFinished <<>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<>> webots_ros2_tutorialsFinished <<< webots_ros2_universal_robot [12.8s]Finished <<< webots_ros2_mavic [12.3s]Finished <<< webots_ros2_tesla [12.1s]Finished <<< webots_ros2_examples [12.6s]Finished <<< webots_ros2_epuck [12.8s]Finished <<>> webots_ros2_demosFinished <<< webots_ros2_tutorials [5.56s]Finished <<< webots_ros2_demos [4.39s]Failed <<colcon build[1.548s] root DEBUG Using proactor: IocpProactorStarting >>> vision_msgsStarting >>> webots_ros2_ur_e_descriptionStarting >>> webots_ros2_importerFinished <<< webots_ros2_importer [3.55s]Finished <<< webots_ros2_ur_e_description [3.70s]Finished <<>> webots_ros2_msgsFinished <<>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<>> webots_ros2_tutorialsFinished <<>> webots_ros2_demosFinished <<< webots_ros2_mavic [11.6s]Finished <<< webots_ros2_examples [11.9s]Finished <<< webots_ros2_epuck [12.1s]Finished <<< webots_ros2_tesla [11.6s]Finished <<< webots_ros2_tiago [11.4s]Finished <<< webots_ros2_tutorials [4.64s]Finished <<< webots_ros2_demos [5.11s]Failed <<C:ros_wswebots_ros2>C:ros_wswebots_ros2>C:ros_wswebots_ros2>C:ros_wswebots_ros2>C:ros_wswebots_ros2>call installlocal_setup.batnot found: "C:ros_wswebots_ros2installwebots_ros2_drivershare/webots_ros2_driver/local_setup.bat"C:ros_wswebots_ros2>ros2 launch webots_ros2_demos armed_robots.launch.py[INFO] [launch]: All log files can be found below C:Userszhangrelay.ros/log2021-07-27-08-25-13-784191-LAPTOP-5REQ7K1L-18572[INFO] [launch]: Default logging verbosity is set to INFO[INFO] [armed_robots.wbt" --batch --mode=realtime-1]: process started with pid [10648][INFO] [webots_robotic_arm_node.EXE-2]: process started with pid [18620][INFO] [webots_robotic_arm_node.EXE-3]: process started with pid [18460][INFO] [armed_robots_ur.EXE-4]: process started with pid [9908][INFO] [armed_robots_abb.EXE-5]: process started with pid [9632][INFO] [armed_robots.wbt" --batch --mode=realtime-1]: process has finished cleanly [pid 10648][WARNING] [armed_robots_abb.EXE-5]: 'SIGINT' sent to process[armed_robots_abb.EXE-5] not supported on Windows, escalating to 'SIGTERM'[INFO] [armed_robots_abb.EXE-5]: sending signal 'SIGTERM' to process[armed_robots_abb.EXE-5][WARNING] [armed_robots_ur.EXE-4]: 'SIGINT' sent to process[armed_robots_ur.EXE-4] not supported on Windows, escalating to 'SIGTERM'[INFO] [armed_robots_ur.EXE-4]: sending signal 'SIGTERM' to process[armed_robots_ur.EXE-4][WARNING] [webots_robotic_arm_node.EXE-3]: 'SIGINT' sent to process[webots_robotic_arm_node.EXE-3] not supported on Windows, escalating to 'SIGTERM'[INFO] [webots_robotic_arm_node.EXE-3]: sending signal 'SIGTERM' to process[webots_robotic_arm_node.EXE-3][ERROR] [armed_robots_abb.EXE-5]: process has died [pid 9632, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_demoslibwebots_ros2_demosarmed_robots_abb.EXE --ros-args'].[WARNING] [webots_robotic_arm_node.EXE-2]: 'SIGINT' sent to process[webots_robotic_arm_node.EXE-2] not supported on Windows, escalating to 'SIGTERM'[INFO] [webots_robotic_arm_node.EXE-2]: sending signal 'SIGTERM' to process[webots_robotic_arm_node.EXE-2][ERROR] [armed_robots_ur.EXE-4]: process has died [pid 9908, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_demoslibwebots_ros2_demosarmed_robots_ur.EXE --ros-args'].[ERROR] [webots_robotic_arm_node.EXE-3]: process has died [pid 18460, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_corelibwebots_ros2_corewebots_robotic_arm_node.EXE --webots-robot-name=UR5e --ros-args --params-file C:UsersZHANGR~1AppDataLocalTemplaunch_params_x3zw76dj'].[armed_robots_abb.EXE-5] [INFO] [1627345517.295333000] [armed_robots_abb]: Waiting for action server...[ERROR] [webots_robotic_arm_node.EXE-2]: process has died [pid 18620, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_corelibwebots_ros2_corewebots_robotic_arm_node.EXE --webots-robot-name=abbirb4600 --ros-args --params-file C:UsersZHANGR~1AppDataLocalTemplaunch_params_zgtj7jxr'].[armed_robots_ur.EXE-4] [INFO] [1627345517.294891500] [armed_robots_ur]: Waiting for action server...[webots_robotic_arm_node.EXE-3] Cannot open file: C:UserszhangrelayAppDataLocalTemp/webots-18848/WEBOTS_SERVER (retry count 1)[webots_robotic_arm_node.EXE-2] Cannot open file: C:UserszhangrelayAppDataLocalTemp/webots-18848/WEBOTS_SERVER (retry count 1)C:ros_wswebots_ros2>ros2 launch webots_ros2_demos armed_robots.launch.py[INFO] [launch]: All log files can be found below C:Userszhangrelay.ros/log2021-07-27-08-28-28-334808-LAPTOP-5REQ7K1L-16016[INFO] [launch]: Default logging verbosity is set to INFO[INFO] [armed_robots.wbt" --batch --mode=realtime-1]: process started with pid [10076][INFO] [webots_robotic_arm_node.EXE-2]: process started with pid [13016][INFO] [webots_robotic_arm_node.EXE-3]: process started with pid [7160][INFO] [armed_robots_ur.EXE-4]: process started with pid [19096][INFO] [armed_robots_abb.EXE-5]: process started with pid [15620][INFO] [armed_robots.wbt" --batch --mode=realtime-1]: process has finished cleanly [pid 10076][WARNING] [armed_robots_abb.EXE-5]: 'SIGINT' sent to process[armed_robots_abb.EXE-5] not supported on Windows, escalating to 'SIGTERM'[INFO] [armed_robots_abb.EXE-5]: sending signal 'SIGTERM' to process[armed_robots_abb.EXE-5][WARNING] [armed_robots_ur.EXE-4]: 'SIGINT' sent to process[armed_robots_ur.EXE-4] not supported on Windows, escalating to 'SIGTERM'[INFO] [armed_robots_ur.EXE-4]: sending signal 'SIGTERM' to process[armed_robots_ur.EXE-4][WARNING] [webots_robotic_arm_node.EXE-3]: 'SIGINT' sent to process[webots_robotic_arm_node.EXE-3] not supported on Windows, escalating to 'SIGTERM'[INFO] [webots_robotic_arm_node.EXE-3]: sending signal 'SIGTERM' to process[webots_robotic_arm_node.EXE-3][ERROR] [armed_robots_abb.EXE-5]: process has died [pid 15620, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_demoslibwebots_ros2_demosarmed_robots_abb.EXE --ros-args'].[WARNING] [webots_robotic_arm_node.EXE-2]: 'SIGINT' sent to process[webots_robotic_arm_node.EXE-2] not supported on Windows, escalating to 'SIGTERM'[INFO] [webots_robotic_arm_node.EXE-2]: sending signal 'SIGTERM' to process[webots_robotic_arm_node.EXE-2][ERROR] [armed_robots_ur.EXE-4]: process has died [pid 19096, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_demoslibwebots_ros2_demosarmed_robots_ur.EXE --ros-args'].[ERROR] [webots_robotic_arm_node.EXE-3]: process has died [pid 7160, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_corelibwebots_ros2_corewebots_robotic_arm_node.EXE --webots-robot-name=UR5e --ros-args --params-file C:UsersZHANGR~1AppDataLocalTemplaunch_params_l9lq5a48'].[armed_robots_abb.EXE-5] [INFO] [1627345711.819760500] [armed_robots_abb]: Waiting for action server...[ERROR] [webots_robotic_arm_node.EXE-2]: process has died [pid 13016, exit code 1, cmd 'C:ros_wswebots_ros2installwebots_ros2_corelibwebots_ros2_corewebots_robotic_arm_node.EXE --webots-robot-name=abbirb4600 --ros-args --params-file C:UsersZHANGR~1AppDataLocalTemplaunch_params_qkogspbl'].[armed_robots_ur.EXE-4] [INFO] [1627345711.778345500] [armed_robots_ur]: Waiting for action server...[webots_robotic_arm_node.EXE-3] Cannot open file: C:UserszhangrelayAppDataLocalTemp/webots-19008/WEBOTS_SERVER (retry count 1)[webots_robotic_arm_node.EXE-2] Cannot open file: C:UserszhangrelayAppDataLocalTemp/webots-19008/WEBOTS_SERVER (retry count 1)C:ros_wswebots_ros2>C:ros_wswebots_ros2>以上就是Webots2021b和ROS2调试笔记21-07-27的详细内容，更多请关注创想鸟其它相关文章！
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