diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/stomp_planning_pipeline.launch.xml
index 7e1c5b8dc2a1c968c85b5221c7b3473832faf319..496de4e09825769eb89570f16ff6b239b961c643 100644
--- a/launch/stomp_planning_pipeline.launch.xml
+++ b/launch/stomp_planning_pipeline.launch.xml
@@ -7,7 +7,8 @@
   <arg name="planning_adapters" value="default_planner_request_adapters/FixWorkspaceBounds
                                        default_planner_request_adapters/FixStartStateBounds
                                        default_planner_request_adapters/FixStartStateCollision
-                                       default_planner_request_adapters/FixStartStatePathConstraints" />
+                                       default_planner_request_adapters/FixStartStatePathConstraints
+                                       default_planner_request_adapters/AddTimeParameterization" />
 
   <arg name="start_state_max_bounds_error" value="0.1" />