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：
CoCo
智谱AI推出的首个有记忆的企业自主Agent智能体
下载
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_ws\webots_ros2>dir 驱动器 C 中的卷没有标签。 卷的序列号是 F0DD-1779 C:\ros_ws\webots_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_ws\webots_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_importer\urdf2webots\urdf2webots' does not exist---Failed <<< webots_ros2_importer [3.66s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [4.28s]Aborted <<< webots_ros2_msgs [10.8s]Summary: 0 packages finished [11.5s] 1 package failed: webots_ros2_importer 2 packages aborted: webots_ros2_msgs webots_ros2_ur_e_description 2 packages had stderr output: webots_ros2_importer webots_ros2_msgs 14 packages not processedC:\ros_ws\webots_ros2>pip3 install urdf2webotsCollecting urdf2webots Downloading urdf2webots-1.0.9-py3-none-any.whl (27 kB)Requirement already satisfied: numpy in c:\opt\ros\foxy\x64\lib\site-packages (from urdf2webots) (1.19.2)Requirement already satisfied: Pillow in c:\opt\ros\foxy\x64\lib\site-packages (from urdf2webots) (8.3.1)Processing c:\users\zhangrelay\appdata\local\pip\cache\wheels\2e\ca\48\a29e76490d0f2a26135f92ba95ea2d997d606db50cc9af0f6e\pycollada-0.7.1-py3-none-any.whlRequirement already satisfied: rospkg in c:\opt\ros\foxy\x64\lib\site-packages (from urdf2webots) (1.2.8)Requirement already satisfied: python-dateutil>=2.2 in c:\opt\ros\foxy\x64\lib\site-packages (from pycollada>=0.6->urdf2webots) (2.8.1)Requirement already satisfied: catkin-pkg in c:\opt\ros\foxy\x64\lib\site-packages (from rospkg->urdf2webots) (0.4.22)Requirement already satisfied: distro in c:\opt\ros\foxy\x64\lib\site-packages (from rospkg->urdf2webots) (1.5.0)Requirement already satisfied: PyYAML in c:\opt\ros\foxy\x64\lib\site-packages (from rospkg->urdf2webots) (5.3.1)Requirement already satisfied: six>=1.5 in c:\opt\ros\foxy\x64\lib\site-packages (from python-dateutil>=2.2->pycollada>=0.6->urdf2webots) (1.15.0)Requirement already satisfied: pyparsing in c:\opt\ros\foxy\x64\lib\site-packages (from catkin-pkg->rospkg->urdf2webots) (2.4.7)Requirement already satisfied: docutils in c:\opt\ros\foxy\x64\lib\site-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:\opt\ros\foxy\x64\python.exe -m pip install --upgrade pip' command.C:\ros_ws\webots_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_importer\urdf2webots\urdf2webots' does not exist---Failed <<< webots_ros2_importer [3.14s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [3.47s]Aborted <<< webots_ros2_msgs [3.70s]Summary: 0 packages finished [4.28s] 1 package failed: webots_ros2_importer 2 packages aborted: webots_ros2_msgs webots_ros2_ur_e_description 2 packages had stderr output: webots_ros2_importer webots_ros2_msgs 14 packages not processedC:\ros_ws\webots_ros2>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 <<< webots_ros2_ur_e_description [3.52s]Summary: 0 packages finished [4.19s] 1 package failed: webots_ros2_msgs 2 packages aborted: webots_ros2_importer webots_ros2_ur_e_description 2 packages had stderr output: webots_ros2_importer webots_ros2_msgs 14 packages not processedC:\ros_ws\webots_ros2>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_importer\urdf2webots\urdf2webots' does not exist---Failed <<< webots_ros2_importer [3.36s, exited with code 1]Aborted <<< vision_msgs [14.5s]Summary: 1 package finished [15.1s] 1 package failed: webots_ros2_importer 1 package aborted: vision_msgs 1 package had stderr output: webots_ros2_importer 15 packages not processedC:\ros_ws\webots_ros2>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_importer\urdf2webots\urdf2webots' does not exist---Failed <<< webots_ros2_importer [3.22s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [3.56s]Aborted <<< vision_msgs [7.28s]Summary: 0 packages finished [7.86s] 1 package failed: webots_ros2_importer 2 packages aborted: vision_msgs webots_ros2_ur_e_description 1 package had stderr output: webots_ros2_importer 15 packages not processedC:\ros_ws\webots_ros2>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_importer\urdf2webots\urdf2webots' does not exist---Failed <<< webots_ros2_importer [3.14s, exited with code 1]Aborted <<< webots_ros2_ur_e_description [3.48s]Aborted <<< vision_msgs [8.05s]Summary: 0 packages finished [8.62s] 1 package failed: webots_ros2_importer 2 packages aborted: vision_msgs webots_ros2_ur_e_description 1 package had stderr output: webots_ros2_importer 15 packages not processedC:\ros_ws\webots_ros2>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 <<< vision_msgs [46.5s]Starting >>> webots_ros2_msgsFinished <<< webots_ros2_msgs [27.2s]Starting >>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<< webots_ros2_core [3.67s]Starting >>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<< webots_ros2_abb [12.6s]Starting >>> webots_ros2_tutorialsFinished <<< webots_ros2_universal_robot [12.8s]Starting >>> 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 <<< webots_ros2_driver [24.1s, exited with code 1]Summary: 14 packages finished [1min 39s] 1 package failed: webots_ros2_driver 3 packages not processedC:\ros_ws\webots_ros2>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 <<< vision_msgs [11.9s]Starting >>> webots_ros2_msgsFinished <<< webots_ros2_msgs [11.1s]Starting >>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<< webots_ros2_core [3.06s]Starting >>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<< webots_ros2_abb [8.78s]Starting >>> 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_tiago [12.1s]Starting >>> webots_ros2_demosFinished <<< webots_ros2_tutorials [6.72s]Failed <<< webots_ros2_driver [18.7s, exited with code 1]Aborted <<< webots_ros2_demos [3.11s]Summary: 13 packages finished [42.9s] 1 package failed: webots_ros2_driver 1 package aborted: webots_ros2_demos 3 packages not processedC:\ros_ws\webots_ros2>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 <<< vision_msgs [13.1s]Starting >>> webots_ros2_msgsFinished <<< webots_ros2_msgs [10.8s]Starting >>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<< webots_ros2_core [3.30s]Starting >>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<< webots_ros2_abb [8.86s]Starting >>> 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_examples [13.2s]Starting >>> webots_ros2_demosFailed <<< webots_ros2_driver [19.1s, exited with code 1]Finished <<< webots_ros2_tutorials [7.02s]Aborted <<< webots_ros2_demos [2.99s]Summary: 13 packages finished [44.3s] 1 package failed: webots_ros2_driver 1 package aborted: webots_ros2_demos 3 packages not processedC:\ros_ws\webots_ros2>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 <<< vision_msgs [12.5s]Starting >>> webots_ros2_msgsFinished <<< webots_ros2_msgs [10.7s]Starting >>> webots_ros2_coreStarting >>> webots_ros2_driverFinished <<< webots_ros2_core [3.33s]Starting >>> webots_ros2_abbStarting >>> webots_ros2_universal_robotStarting >>> webots_ros2_epuckStarting >>> webots_ros2_examplesStarting >>> webots_ros2_mavicStarting >>> webots_ros2_teslaStarting >>> webots_ros2_tiagoFinished <<< webots_ros2_abb [9.05s]Starting >>> 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_tesla [13.0s]Starting >>> webots_ros2_demosFinished <<< webots_ros2_tutorials [9.56s]Finished <<< webots_ros2_demos [13.4s]Failed <<< webots_ros2_driver [39.5s, exited with code 1]Summary: 14 packages finished [1min 3s] 1 package failed: webots_ros2_driver 3 packages not processedC:\ros_ws\webots_ros2>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
