I download a new rviz_collision_tutorial_2.launch file, now I can get the
StateValidity topic, but the result seems not right like bellow:

http://ros-users.122217.n3.nabble.com/file/n950651/Screenshot.png 

But the tutorial result is like this:

http://ros-users.122217.n3.nabble.com/file/n950651/2.jpg 

Thank you for your help.
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