<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="trajectory_execution/allowed_execution_duration_scaling" value="3.0"/> <!-- default 1.2 -->
  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
  <param name="trajectory_execution/allowed_start_tolerance" value="0.07"/> <!-- default 0.01, using 0.07 on AX-12 Servos-->
  
  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
  <arg name="moveit_controller_manager" default="turtlebot" />
  <include file="$(find turtlebot_moveit_config)/launch/$(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)"/>

  <!--TODO: On the Joule with all nodes running we need to determine approxmiate duration_scaling for successful execution
            or disable monitoring all together. This can be done with rqt with each run or at launch with the following: -->
  <!--param name="trajectory_execution/execution_duration_monitoring" value="false"/-->
  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
  <param name="trajectory_execution/allowed_execution_duration_scaling" value="10.0"/> <!-- default 1.2 -->
  
  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
  <param name="trajectory_execution/allowed_start_tolerance" value="0.07"/> <!-- default 0.01, using 0.07 on AX-12 Servos-->
  
  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
  <arg name="moveit_controller_manager" default="turtlebot" />
  <include file="$(find turtlebot_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
  
</launch>

Increase trajectory execution duration scaling for Joule
Increase trajectory execution duration scaling for Joule
