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：
[WARNING] [webots_robotic_arm_node.EXE-2]: 'SIGINT' sent to process[webots_robotic_arm_node.EXE-2] not supported on Windows, escalating to 'SIGTERM'
还调试个毛线啊……哈哈哈哈
?
全记录如下：
**********************************************************************
** Visual Studio 2019 Developer Command Prompt v16.9.3
** Copyright (c) 2021 Microsoft Corporation
**********************************************************************
C:\ros_ws>cd webots_ros2
C:\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 <DIR> .
2021/07/27 07:07 <DIR> ..
2021/07/27 07:07 <DIR> 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: IocpProactor
Starting >>> webots_ros2_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
--- stderr: webots_ros2_importer
error: 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 processed
C:\ros_ws\webots_ros2>pip3 install urdf2webots
Collecting 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.whl
Requirement 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, urdf2webots
Successfully installed pycollada-0.7.1 urdf2webots-1.0.9
WARNING: 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: IocpProactor
Starting >>> webots_ros2_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
--- stderr: webots_ros2_importer
error: 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.540s] root DEBUG Using proactor: IocpProactor
Starting >>> webots_ros2_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
--- stderr: webots_ros2_msgs
CMake 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.541s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_ur_e_description [2.64s]
--- stderr: webots_ros2_importer
error: 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.545s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
--- stderr: webots_ros2_importer
error: 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.566s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
--- stderr: webots_ros2_importer
error: 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.550s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_ur_e_description [3.77s]
Finished <<< webots_ros2_importer [3.70s]
[Processing: vision_msgs]
Finished <<< vision_msgs [46.5s]
Starting >>> webots_ros2_msgs
Finished <<< webots_ros2_msgs [27.2s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [3.67s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Starting >>> webots_ros2_tesla
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_abb [12.6s]
Starting >>> webots_ros2_tutorials
Finished <<< webots_ros2_universal_robot [12.8s]
Starting >>> webots_ros2_demos
Finished <<< 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.543s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_importer [3.58s]
Finished <<< webots_ros2_ur_e_description [3.75s]
Finished <<< vision_msgs [11.9s]
Starting >>> webots_ros2_msgs
Finished <<< webots_ros2_msgs [11.1s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [3.06s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Starting >>> webots_ros2_tesla
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_abb [8.78s]
Starting >>> webots_ros2_tutorials
Finished <<< 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_demos
Finished <<< 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.554s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_importer [3.64s]
Finished <<< webots_ros2_ur_e_description [3.78s]
Finished <<< vision_msgs [13.1s]
Starting >>> webots_ros2_msgs
Finished <<< webots_ros2_msgs [10.8s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [3.30s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Starting >>> webots_ros2_tesla
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_abb [8.86s]
Starting >>> webots_ros2_tutorials
Finished <<< 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_demos
Failed <<< 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 processed
C:\ros_ws\webots_ros2>colcon build
[1.562s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_importer [3.66s]
Finished <<< webots_ros2_ur_e_description [3.81s]
Finished <<< vision_msgs [12.5s]
Starting >>> webots_ros2_msgs
Finished <<< webots_ros2_msgs [10.7s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [3.33s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Starting >>> webots_ros2_tesla
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_abb [9.05s]
Starting >>> webots_ros2_tutorials
Finished <<< 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_demos
Finished <<< 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 processed
C:\ros_ws\webots_ros2>cd ..
C:\ros_ws>git clone -r https://github.com/cyberbotics/webots_ros2.git
error: unknown switch `r'
usage: git clone [<options>] [--] <repo> [<dir>]
-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[=<pathspec>]
initialize submodules in the clone
--recursive[=<pathspec>]
alias of --recurse-submodules
-j, --jobs <n> number of submodules cloned in parallel
--template <template-directory>
directory from which templates will be used
--reference <repo> reference repository
--reference-if-able <repo>
reference repository
--dissociate use --reference only while cloning
-o, --origin <name> use <name> instead of 'origin' to track upstream
-b, --branch <branch>
checkout <branch> instead of the remote's HEAD
-u, --upload-pack <path>
path to git-upload-pack on the remote
--depth <depth> create a shallow clone of that depth
--shallow-since <time>
create a shallow clone since a specific time
--shallow-exclude <revision>
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 <gitdir>
separate git dir from working tree
-c, --config <key=value>
set config inside the new repository
--server-option <server-specific>
option to transmit
-4, --ipv4 use IPv4 addresses only
-6, --ipv6 use IPv6 addresses only
--filter <args> object filtering
--remote-submodules any cloned submodules will use their remote-tracking branch
--sparse initialize sparse-checkout file to include only files at root
C:\ros_ws>git clone https://github.com/cyberbotics/webots_ros2.git
Cloning 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 7138
Receiving objects: 100% (7787/7787), 52.02 MiB | 1.11 MiB/s, done.
Resolving deltas: 100% (5434/5434), done.
C:\ros_ws>cd webots_ros2
C:\ros_ws\webots_ros2>colcon build
[1.562s] root DEBUG Using proactor: IocpProactor
Starting >>> webots_ros2_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
--- stderr: webots_ros2_importer
error: package directory 'webots_ros2_importer\urdf2webots\urdf2webots' does not exist
---
Failed <<< webots_ros2_importer [3.39s, exited with code 1]
Aborted <<< webots_ros2_ur_e_description [3.84s]
Aborted <<< webots_ros2_msgs [8.69s]
Summary: 0 packages finished [9.25s]
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 processed
C:\ros_ws\webots_ros2>colcon build
[1.525s] root DEBUG Using proactor: IocpProactor
Starting >>> webots_ros2_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_ur_e_description [3.62s]
Finished <<< webots_ros2_importer [3.55s]
--- stderr: webots_ros2_msgs
CMake 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 [3.81s, exited with code 1]
Summary: 2 packages finished [4.39s]
1 package failed: webots_ros2_msgs
1 package had stderr output: webots_ros2_msgs
14 packages not processed
C:\ros_ws\webots_ros2>colcon build
[1.530s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_ur_e_description [2.66s]
Finished <<< webots_ros2_importer [3.62s]
[Processing: vision_msgs]
Finished <<< vision_msgs [54.0s]
Starting >>> webots_ros2_msgs
Finished <<< webots_ros2_msgs [26.9s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [3.44s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Starting >>> webots_ros2_tesla
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_abb [12.5s]
Starting >>> webots_ros2_tutorials
Finished <<< webots_ros2_universal_robot [12.7s]
Starting >>> webots_ros2_demos
Finished <<< 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 <<< webots_ros2_driver [23.1s, exited with code 1]
Summary: 14 packages finished [1min 45s]
1 package failed: webots_ros2_driver
3 packages not processed
C:\ros_ws\webots_ros2>git clone --recurse-submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2
Cloning 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 7138
Receiving 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 10054
fatal: clone of 'https://github.com/cyberbotics/webots-libcontroller.git' into submodule path 'C:/ros_ws/webots_ros2/src/webots_ros2/webots_ros2_driver/webots' failed
Failed to clone 'webots_ros2_driver/webots'. Retry scheduled
Cloning 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 2740
Receiving 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 0
Receiving 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 10054
fatal: 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' failed
Failed to clone 'tests/sources/motoman'. Retry scheduled
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 10054
fatal: 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' failed
Failed to clone 'tests/sources/motoman' a second time, aborting
Submodule path 'webots_ros2_driver/webots': checked out '9b63446cc79dfb17cf07fbf35f2b4b0b5213b410'
Failed to recurse into submodule path 'webots_ros2_importer/webots_ros2_importer/urdf2webots'
C:\ros_ws\webots_ros2>git clone --recurse-submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2
fatal: destination path 'src/webots_ros2' already exists and is not an empty directory.
C:\ros_ws\webots_ros2>colcon build
[1.518s] root DEBUG Using proactor: IocpProactor
Starting >>> webots_ros2_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_ur_e_description [3.00s]
Finished <<< webots_ros2_importer [4.16s]
--- stderr: webots_ros2_msgs
CMake 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 [10.2s, exited with code 1]
Summary: 2 packages finished [10.8s]
1 package failed: webots_ros2_msgs
1 package had stderr output: webots_ros2_msgs
14 packages not processed
C:\ros_ws\webots_ros2>colcon build
[1.531s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_importer [3.55s]
Finished <<< webots_ros2_ur_e_description [3.69s]
[Processing: vision_msgs]
Finished <<< vision_msgs [52.5s]
Starting >>> webots_ros2_msgs
Finished <<< webots_ros2_msgs [26.4s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [3.36s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Starting >>> webots_ros2_tesla
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_abb [9.44s]
Starting >>> webots_ros2_tutorials
Finished <<< 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_tiago [12.0s]
Starting >>> webots_ros2_demos
Finished <<< webots_ros2_tutorials [5.56s]
Finished <<< webots_ros2_demos [4.39s]
Failed <<< webots_ros2_driver [42.2s, exited with code 1]
Summary: 14 packages finished [2min 2s]
1 package failed: webots_ros2_driver
3 packages not processed
C:\ros_ws\webots_ros2>colcon build
[1.548s] root DEBUG Using proactor: IocpProactor
Starting >>> vision_msgs
Starting >>> webots_ros2_ur_e_description
Starting >>> webots_ros2_importer
Finished <<< webots_ros2_importer [3.55s]
Finished <<< webots_ros2_ur_e_description [3.70s]
Finished <<< vision_msgs [16.4s]
Starting >>> webots_ros2_msgs
Finished <<< webots_ros2_msgs [11.6s]
Starting >>> webots_ros2_core
Starting >>> webots_ros2_driver
Finished <<< webots_ros2_core [3.33s]
Starting >>> webots_ros2_abb
Starting >>> webots_ros2_universal_robot
Starting >>> webots_ros2_epuck
Starting >>> webots_ros2_examples
Starting >>> webots_ros2_mavic
Starting >>> webots_ros2_tesla
Starting >>> webots_ros2_tiago
Finished <<< webots_ros2_abb [11.5s]
Starting >>> webots_ros2_tutorials
Finished <<< webots_ros2_universal_robot [11.8s]
Starting >>> webots_ros2_demos
Finished <<< 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 <<< webots_ros2_driver [20.5s, exited with code 1]
Summary: 14 packages finished [49.2s]
1 package failed: webots_ros2_driver
3 packages not processed
C:\ros_ws\webots_ros2>
C:\ros_ws\webots_ros2>
C:\ros_ws\webots_ros2>
C:\ros_ws\webots_ros2>
C:\ros_ws\webots_ros2>
C:\ros_ws\webots_ros2>call install\local_setup.bat
not found: "C:\ros_ws\webots_ros2\install\webots_ros2_driver\share/webots_ros2_driver/local_setup.bat"
C:\ros_ws\webots_ros2>ros2 launch webots_ros2_demos armed_robots.launch.py
[INFO] [launch]: All log files can be found below C:\Users\zhangrelay\.ros/log\2021-07-27-08-25-13-784191-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_ws\webots_ros2\install\webots_ros2_demos\lib\webots_ros2_demos\armed_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_ws\webots_ros2\install\webots_ros2_demos\lib\webots_ros2_demos\armed_robots_ur.EXE --ros-args'].
[ERROR] [webots_robotic_arm_node.EXE-3]: process has died [pid 18460, exit code 1, cmd 'C:\ros_ws\webots_ros2\install\webots_ros2_core\lib\webots_ros2_core\webots_robotic_arm_node.EXE --webots-robot-name=UR5e --ros-args --params-file C:\Users\ZHANGR~1\AppData\Local\Temp\launch_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_ws\webots_ros2\install\webots_ros2_core\lib\webots_ros2_core\webots_robotic_arm_node.EXE --webots-robot-name=abbirb4600 --ros-args --params-file C:\Users\ZHANGR~1\AppData\Local\Temp\launch_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:\Users\zhangrelay\AppData\Local\Temp/webots-18848/WEBOTS_SERVER (retry count 1)
[webots_robotic_arm_node.EXE-2] Cannot open file: C:\Users\zhangrelay\AppData\Local\Temp/webots-18848/WEBOTS_SERVER (retry count 1)
C:\ros_ws\webots_ros2>ros2 launch webots_ros2_demos armed_robots.launch.py
[INFO] [launch]: All log files can be found below C:\Users\zhangrelay\.ros/log\2021-07-27-08-28-28-334808-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_ws\webots_ros2\install\webots_ros2_demos\lib\webots_ros2_demos\armed_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_ws\webots_ros2\install\webots_ros2_demos\lib\webots_ros2_demos\armed_robots_ur.EXE --ros-args'].
[ERROR] [webots_robotic_arm_node.EXE-3]: process has died [pid 7160, exit code 1, cmd 'C:\ros_ws\webots_ros2\install\webots_ros2_core\lib\webots_ros2_core\webots_robotic_arm_node.EXE --webots-robot-name=UR5e --ros-args --params-file C:\Users\ZHANGR~1\AppData\Local\Temp\launch_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_ws\webots_ros2\install\webots_ros2_core\lib\webots_ros2_core\webots_robotic_arm_node.EXE --webots-robot-name=abbirb4600 --ros-args --params-file C:\Users\ZHANGR~1\AppData\Local\Temp\launch_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:\Users\zhangrelay\AppData\Local\Temp/webots-19008/WEBOTS_SERVER (retry count 1)
[webots_robotic_arm_node.EXE-2] Cannot open file: C:\Users\zhangrelay\AppData\Local\Temp/webots-19008/WEBOTS_SERVER (retry count 1)
C:\ros_ws\webots_ros2>
C:\ros_ws\webots_ros2>