Fail to Connect Isaacsim together with moveit2!

[LC-Robot]

Hello everyone, when I refer to the https://moveit.picknik.ai/main/doc/how_to_guides/isaac_panda/isaac_panda_tutorial.html tutorial to implement the joint simulation of moveit2 and isaacsim, the following problems occurred：

As shown in the picture, when I started moveit2 in docker, the panda robot arm had a self-collision and could not be planned successfully. I followed this tutorial exactly, the only extra step was that I entered docker and colcon compiled the entire moveit. Because when I don't build, I get the page shown below,

So how can I connect Isaacsim and moveit2?