要么就是配置问题，要么就是spring cloud alibaba的版本与本地下载的nacos服务版本不兼容导致的。这里提供如下完整步骤：

正确引入依赖

父工程引入Spring Cloud Alibaba依赖：

<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
    <modelVersion>4.0.0</modelVersion>
    <packaging>pom</packaging>
    <parent>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-parent</artifactId>
        <version>3.2.0</version>
    </parent>
    <groupId>com.yzz</groupId>
    <artifactId>spring-cloud-alibaba-demo</artifactId>
    <version>0.0.1-SNAPSHOT</version>
    <name>spring-cloud-alibaba-demo</name>
    <description>spring-cloud-alibaba-demo</description>
    <properties>
        <java.version>17</java.version>
        <spring-cloud.version>2023.0.0</spring-cloud.version>
        <spring-boot.version>3.2.0</spring-boot.version>
    </properties>
    <dependencyManagement>
        <dependencies>
            <dependency>
                <groupId>org.springframework.boot</groupId>
                <artifactId>spring-boot-starter</artifactId>
                <version>${spring-boot.version}</version>
            </dependency>
            <dependency>
                <groupId>org.springframework.boot</groupId>
                <artifactId>spring-boot-starter-web</artifactId>
                <version>${spring-boot.version}</version>
            </dependency>
            <!--Spring Cloud Alibaba 的版本信息-->

            <dependency>
                <groupId>com.alibaba.cloud</groupId>
                <artifactId>spring-cloud-alibaba-dependencies</artifactId>
                <version>2023.0.0.0-RC1</version>
                <type>pom</type>
                <scope>import</scope>
            </dependency>
            <!--Spring Cloud 的版本信息-->
            <dependency>
                <groupId>org.springframework.cloud</groupId>
                <artifactId>spring-cloud-dependencies</artifactId>
                <version>${spring-cloud.version}</version>
                <type>pom</type>
                <scope>import</scope>
            </dependency>
        </dependencies>
    </dependencyManagement>

    <build>
        <plugins>
            <plugin>
                <groupId>org.springframework.boot</groupId>
                <artifactId>spring-boot-maven-plugin</artifactId>
            </plugin>
        </plugins>
    </build>

</project>

注意spring boot 与spring cloud 版本冲突问题， spring cloud 与nacos服务版本冲突问题，我本地下载的nacos服务是2.3.0的版本，如果版本不兼容也会导致服务注册失败，具体对应版本可以看版本发布声明

比如以下是我参考的版本配置

子工程引入spring-cloud-starter-alibaba-nacos-discovery依赖：

<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
    <modelVersion>4.0.0</modelVersion>
    <parent>
        <groupId>com.yzz</groupId>
        <artifactId>spring-cloud-alibaba-demo</artifactId>
        <version>0.0.1-SNAPSHOT</version>
    </parent>
    <groupId>com.yzz</groupId>
    <artifactId>service-demo1</artifactId>
    <version>0.0.1-SNAPSHOT</version>
    <name>service-demo1</name>
    <description>service-demo1</description>
    <properties>
        <java.version>17</java.version>
    </properties>
    <dependencies>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-web</artifactId>
        </dependency>
        <dependency>
            <groupId>org.projectlombok</groupId>
            <artifactId>lombok</artifactId>
            <optional>true</optional>
        </dependency>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-test</artifactId>
            <scope>test</scope>
        </dependency>
        <!--Spring Cloud Alibaba Nacos discovery -->
        <dependency>
            <groupId>com.alibaba.cloud</groupId>
            <artifactId>spring-cloud-starter-alibaba-nacos-discovery</artifactId>
        </dependency>
    </dependencies>

    <build>
        <plugins>
            <plugin>
                <groupId>org.springframework.boot</groupId>
                <artifactId>spring-boot-maven-plugin</artifactId>
            </plugin>
        </plugins>
    </build>

</project>

子工程yml配置文件配置好nacos:

server:
  port: 9991

spring:
  application:
    name: service-demo1
  cloud:
    nacos:
      discovery:
        server-addr: 127.0.0.1:8848
        namespace: 0f8cf46a-2f2b-4f43-934d-e4a511d47d91
        group: DEFAULT_GROUP
        username: nacos
        password: nacos
  codec:
    log-request-details: true
logging:
  level:
    com.alibaba.cloud.nacos: debug

namespace:就是本地nacos里面你自己手动创建的的一个命名空间的ID

启动子工程，查看nacos服务列表，注册成功

总结：如果配置没有问题，但是服务列表里面依旧未显示该服务，很可能就是 spring cloud alibaba的版本与本地下载的nacos服务版本不兼容，自己到官网里面查找合适的版本下载或引入。