First, The relevant configurations in my pom.xml are as follows

    <parent>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-parent</artifactId>
        <version>2.7.1</version>
        <relativePath/> <!-- lookup parent from repository -->
    </parent>
    <dependencies>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-web</artifactId>
        </dependency>

        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-test</artifactId>
            <scope>test</scope>
        </dependency>

        <!--swagger-->
        <dependency>
            <groupId>io.springfox</groupId>
            <artifactId>springfox-swagger2</artifactId>
            <version>2.9.2</version>
        </dependency>
        <dependency>
            <groupId>io.springfox</groupId>
            <artifactId>springfox-swagger-ui</artifactId>
            <version>2.9.2</version>
        </dependency>
    </dependencies>
    <build>
        <plugins>
            <plugin>
                <groupId>org.springframework.boot</groupId>
                <artifactId>spring-boot-maven-plugin</artifactId>
            </plugin>
        </plugins>
    </build>

At this point, my spring-boot-starter version may not match the swagger version, and the following error is reported

org.springframework.context.ApplicationContextException: Failed to start bean 'documentationPluginsBootstrapper'; nested exception is java.lang.NullPointerException

Because Springfox uses path matching based on AntPathMatcher, while Spring Boot 2.6.X uses PathPatternMatcher.

Solution:

Configurate in application.properties:

spring.mvc.pathmatch.matching-strategy=ANT_PATH_MATCHER

The problem can be solved.