An unexpected situation has occurred when using ur5e to follow_target task

I am using ur5e to duplicate the follow_target task, but after running the robot arm flies around, the video is as follows. I have compared it with the configuration file of UR10 in the example, but the problem has not been solved, should I modify the rmpflow and description files? At the same time, I saw such a warning appeared in the terminal after running, as shown below. Do I need to adjust the collision Settings?

Has anyone ever been in a similar situation? Or someone can help me, thank you so much! (1004.3 KB)