ros couldn't connect with webots

[gcMs1]

Hello, I tried the guides of webots_ros2 in the ROS2 Documentation recently. However, I can't build connection between ros2 and webots using the basic example, even though i followed the tutorial steps strictly.
I installed webots-ros2 package using following commend:
sudo apt install ros-humble-webots-ros2
Here is my system configuration:
ubuntu 22.04,
the version of ROS2 is humble,
the version of webots is R2023a (which I have installed early)
Could you give me some suggestions to solve this problem? Thanks!
Looking forward to your reply!