@v4hn I install the moveit from source following the office instument "https://moveit.ros.org/install/source/“（ubuntu 20.04，ROS Noetic）. When I follow the tutorial "MoveIt Quickstart in RViz", although I have make the robot collsion with itself, the links that are in collision doesn't turn red(As shown in picture). What's wrong with this. Please help me.Thank you very much!