<launch>

  <!-- This file makes it easy to include the settings for trajectory execution  -->  

  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
  <arg name="moveit_manage_controllers" default="true"/>
  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>

  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
  <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
  <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
  
  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
  <arg name="moveit_controller_manager" default="single_lwr_robot" />
  <include file="$(find single_lwr_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
  
</launch>

<launch>

  <!-- This file makes it easy to include the settings for trajectory execution  -->  

  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
  <arg name="moveit_manage_controllers" default="true"/>
  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>

  <group ns="trajectory_execution">  
    <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
    <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
    <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
    <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
  </group>
  
  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
  <arg name="moveit_controller_manager" default="single_lwr_robot" />
  <include file="$(find single_lwr_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
  
</launch>

Fix warning about argument changing namespace
Fix warning about argument changing namespace
