【报错】org.springframework.beans.factory.BeanCreationException: Error creating bean with name 'webSocketHandlerMapping' defined in class path resource

org.springframework.beans.factory.BeanCreationException: Error creating bean with name ‘webSocketHandlerMapping‘ defined in class path resource [org/springframework/web/socket/config/annotation/DelegatingWebSocketConfiguration.class]: Bean instantiation via factory method failed; nested exception is org.springframework.beans.BeanInstantiationException: Failed to instantiate [org.springframework.web.servlet.HandlerMapping]: Factory method ‘webSocketHandlerMapping‘ threw exception; nested exception is java.lang.IllegalStateException: No suitable default RequestUpgradeStrategy found
    at org.springframework.beans.factory.support.ConstructorResolver.instantiateUsingFactoryMethod(ConstructorResolver.java:599)
    at org.springframework.beans.factory.support.AbstractAutowireCapableBeanFactory.instantiateUsingFactoryMethod(AbstractAutowireCapableBeanFactory.java:1177)
    at org.springframework.beans.factory.support.AbstractAutowireCapableBeanFactory.createBeanInstance(AbstractAutowireCapableBeanFactory.java:1071)
    at org.springframework.beans.factory.support.AbstractAutowireCapableBeanFactory.doCreateBean(AbstractAutowireCapableBeanFactory.java:513)
    at org.springframework.beans.factory.support.AbstractAutowireCapableBeanFactory.createBean(AbstractAutowireCapableBeanFactory.java:483)
    at org.springframework.beans.factory.support.AbstractBeanFactory$1.getObject(AbstractBeanFactory.java:312)
    at org.springframework.beans.factory.support.DefaultSingletonBeanRegistry.getSingleton(DefaultSingletonBeanRegistry.java:230)
    at org.springframework.beans.factory.support.AbstractBeanFactory.doGetBean(AbstractBeanFactory.java:308)
    at org.springframework.beans.factory.support.AbstractBeanFactory.getBean(AbstractBeanFactory.java:197)
    at org.springframework.beans.factory.support.DefaultListableBeanFactory.preInstantiateSingletons(DefaultListableBeanFactory.java:761)
    at org.springframework.context.support.AbstractApplicationContext.finishBeanFactoryInitialization(AbstractApplicationContext.java:867)
    at org.springframework.context.support.AbstractApplicationContext.refresh(AbstractApplicationContext.java:543)
    at org.springframework.web.context.ContextLoader.configureAndRefreshWebApplicationContext(ContextLoader.java:443)
    at org.springframework.web.context.ContextLoader.initWebApplicationContext(ContextLoader.java:325)
    at org.springframework.web.context.ContextLoaderListener.contextInitialized(ContextLoaderListener.java:107)
    at org.apache.catalina.core.StandardContext.listenerStart(StandardContext.java:4135)
    at org.apache.catalina.core.StandardContext.start(StandardContext.java:4630)
    at org.apache.catalina.core.ContainerBase.start(ContainerBase.java:1045)
    at org.apache.catalina.core.StandardHost.start(StandardHost.java:785)
    at org.apache.catalina.core.ContainerBase.start(ContainerBase.java:1045)
    at org.apache.catalina.core.StandardEngine.start(StandardEngine.java:445)
    at org.apache.catalina.startup.Embedded.start(Embedded.java:825)
    at org.codehaus.mojo.tomcat.AbstractRunMojo.startContainer(AbstractRunMojo.java:558)
    at org.codehaus.mojo.tomcat.AbstractRunMojo.execute(AbstractRunMojo.java:255)
    at org.apache.maven.plugin.DefaultBuildPluginManager.executeMojo(DefaultBuildPluginManager.java:132)
    at org.apache.maven.lifecycle.internal.MojoExecutor.execute(MojoExecutor.java:208)
    at org.apache.maven.lifecycle.internal.MojoExecutor.execute(MojoExecutor.java:153)
    at org.apache.maven.lifecycle.internal.MojoExecutor.execute(MojoExecutor.java:145)
    at org.apache.maven.lifecycle.internal.LifecycleModuleBuilder.buildProject(LifecycleModuleBuilder.java:116)
    at org.apache.maven.lifecycle.internal.LifecycleModuleBuilder.buildProject(LifecycleModuleBuilder.java:80)
    at org.apache.maven.lifecycle.internal.builder.singlethreaded.SingleThreadedBuilder.build(SingleThreadedBuilder.java:51)
    at org.apache.maven.lifecycle.internal.LifecycleStarter.execute(LifecycleStarter.java:120)
    at org.apache.maven.DefaultMaven.doExecute(DefaultMaven.java:347)
    at org.apache.maven.DefaultMaven.execute(DefaultMaven.java:154)
    at org.apache.maven.cli.MavenCli.execute(MavenCli.java:584)
    at org.apache.maven.cli.MavenCli.doMain(MavenCli.java:213)
    at org.apache.maven.cli.MavenCli.main(MavenCli.java:157)
    at sun.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at sun.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:62)
    at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
    at java.lang.reflect.Method.invoke(Method.java:498)
    at org.codehaus.plexus.classworlds.launcher.Launcher.launchEnhanced(Launcher.java:289)
    at org.codehaus.plexus.classworlds.launcher.Launcher.launch(Launcher.java:229)
    at org.codehaus.plexus.classworlds.launcher.Launcher.mainWithExitCode(Launcher.java:415)
    at org.codehaus.plexus.classworlds.launcher.Launcher.main(Launcher.java:356)
    at org.codehaus.classworlds.Launcher.main(Launcher.java:46)

[INFO] <<< tomcat-maven-plugin:1.1:run (default-cli) < compile 
[INFO] 

[INFO] --- tomcat-maven-plugin:1.1:run (default-cli) @

[INFO] Using existing Tomcat server configuration at 
九月 10, 2018 7:01:23 下午 org.apache.catalina.startup.Embedded start
信息: Starting tomcat server
九月 10, 2018 7:01:23 下午 org.apache.catalina.core.StandardEngine start
信息: Starting Servlet Engine: Apache Tomcat/6.0.29
九月 10, 2018 7:01:23 下午 org.apache.catalina.core.ApplicationContext log
信息: Set web app root system property:
九月 10, 2018 7:01:23 下午 org.apache.catalina.core.ApplicationContext log
信息: Initializing log4j from [classpath:log4j.properties]
九月 10, 2018 7:01:23 下午 org.apache.catalina.core.ApplicationContext log
信息: Initializing Spring root WebApplicationContext

<build>
    <plugins>
           <plugin>  
              <groupId>org.apache.tomcat.maven</groupId>
            <artifactId>tomcat7-maven-plugin</artifactId>
            <version>2.2</version>
           </plugin>
    </plugins>
</build>