diff --git a/nextage_moveit_config/launch/trajectory_execution.launch b/nextage_moveit_config/launch/trajectory_execution.launch
index 76bcf816..edf15b84 100644
--- a/nextage_moveit_config/launch/trajectory_execution.launch
+++ b/nextage_moveit_config/launch/trajectory_execution.launch
@@ -6,6 +6,12 @@
   <arg name="moveit_manage_controllers" default="true"/>
   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
   
+  <!-- for Kinetic : https://answers.ros.org/question/196586/how-do-i-disable-execution_duration_monitoring/ -->
+  <!-- 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="2.0"/> <!-- 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 -->
+
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="NextageOpen" />
   <include file="$(find nextage_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch" />