webots_ros2 how to build webots_ros2_driver with brew version python?

Describe the Bug WebotsNode failure to launch.

First , I have download webots R2022a, but encounter webots issue #4528

Then I have installed webots night-build, after build webots_ros2_driver and try the guide ,

It failure with exit code -11

[ERROR] [driver-2]: process has died [pid 63124, exit code -11, cmd '/Users/xlla/ros2_dev_ws/install/webots_ros2_driver/lib/webots_ros2_driver/driver --ros-args --params-file /var/folders/6j/gqhq_r1n0wg5qjypvtkccnqr0000gn/T/launch_params_6lf31amf'].

Then I checkout webots source a90eb4e59654bcd8d8ebe9de0c238426ec489576, I am not understand exactly the python dependencies, so I followed this dependencies guide installed python 3.7, 3.8, 3.9, 3.10 from python.org and from brew , and built it, then link the WEBOTS_HOME/lib/controller to webots_ros2/webots_ros2_driver/webots/lib/darwin19 and manual create

 __ init__ .py

inside python39 and python39_brew

after build webots_ros2_driver and try the guide ,

It failure with exit code -6

slim:ros2_dev_ws xlla$ ros2 launch my_package robot_launch.py
[INFO] [launch]: All log files can be found below /Users/xlla/.ros/log/2022-05-14-18-33-07-347218-slim.local-80582
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [webots-1]: process started with pid [80583]
[INFO] [driver-2]: process started with pid [80584]
[driver-2] Webots doesn't seems to be ready yet: (retry count 1)
[driver-2] Cannot open file: /var/tmp/webots-80586/WEBOTS_SERVER (retry count 2)
[driver-2] Cannot open file: /var/tmp/webots-80586/WEBOTS_SERVER (retry count 3)
[driver-2] Cannot open file: /var/tmp/webots-80586/WEBOTS_SERVER (retry count 4)
[driver-2] libc++abi.dylib: terminating with uncaught exception of type std::runtime_error: Error: The Python module with the WebotsNode class cannot be executed.
[ERROR] [driver-2]: process has died [pid 80584, exit code -6, cmd '/Users/xlla/ros2_dev_ws/install/webots_ros2_driver/lib/webots_ros2_driver/driver --ros-args --params-file /var/folders/6j/gqhq_r1n0wg5qjypvtkccnqr0000gn/T/launch_params_cgzp0880'].

Since I have mainly work on brew python3.9, I have changed CMakeLists.txt to use 3.9 instead of 3.10, does it must be 3.10?
I noticed each controller python lib ( _controller.so ) was linked with different version python lib, to match with my work python version, I have change CMakeLists.txt as this

  ament_python_install_package(${PROJECT_NAME}_webots
    PACKAGE_DIR ${WEBOTS_LIB_BASE}/python39_brew)

it still error with exit code -6

I have noticed that all python*_brew folder missing _vehicle.so and vehicle.py , is this the reason?

Steps to Reproduce

follow guide
ros2 launch my_package robot_launch.py

Expected behavior WebotsNode successful launch.

Affected Packages List of affected packages:

webots_ros2_driver

Screenshots

slim:ros2_dev_ws xlla$ ros2 launch my_package robot_launch.py
[INFO] [launch]: All log files can be found below /Users/xlla/.ros/log/2022-05-14-18-33-07-347218-slim.local-80582
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [webots-1]: process started with pid [80583]
[INFO] [driver-2]: process started with pid [80584]
[driver-2] Webots doesn't seems to be ready yet: (retry count 1)
[driver-2] Cannot open file: /var/tmp/webots-80586/WEBOTS_SERVER (retry count 2)
[driver-2] Cannot open file: /var/tmp/webots-80586/WEBOTS_SERVER (retry count 3)
[driver-2] Cannot open file: /var/tmp/webots-80586/WEBOTS_SERVER (retry count 4)
[driver-2] libc++abi.dylib: terminating with uncaught exception of type std::runtime_error: Error: The Python module with the WebotsNode class cannot be executed.
[ERROR] [driver-2]: process has died [pid 80584, exit code -6, cmd '/Users/xlla/ros2_dev_ws/install/webots_ros2_driver/lib/webots_ros2_driver/driver --ros-args --params-file /var/folders/6j/gqhq_r1n0wg5qjypvtkccnqr0000gn/T/launch_params_cgzp0880'].

inside webots console

INFO: Starting extern controller for robot "my_robot".

System

Webots Version: [ R2020a a90eb4e59654bcd8d8ebe9de0c238426ec489576]
ROS Version: [humble]
Operating System: [macOS High sierra]
Graphics Card: [NVIDIA GeForce GTX 1060 6 GB]

Additional context

I have installed many pip packages include ros2 under python 3.9, so I rather stick to this version. My ros2 is built from source, it works for all tutorials of ros2 up to this . My webots is built from source, it works for this I can run python version controller examples, so I think the controller lib is fine. I can create a simple ros2 subscriber node to manual initial a Robot from controller and driver a bot insider webots world.

but failure to launch the webotsNode as this guide