diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml
index 456cbe27294cafd7a4a65b816aba637f7a88aba8..0fb092f4a95aa5ac3ae55028993e3ea8eafa3f6b 100644
--- a/launch/chomp_planning_pipeline.launch.xml
+++ b/launch/chomp_planning_pipeline.launch.xml
@@ -5,12 +5,12 @@
 
    <param name="planning_plugin" value="$(arg planning_plugin)" />
    <param name="request_adapters" value="
+       default_planner_request_adapters/AddTimeParameterization
        default_planner_request_adapters/FixWorkspaceBounds
        default_planner_request_adapters/FixStartStateBounds
        default_planner_request_adapters/FixStartStateCollision
        default_planner_request_adapters/FixStartStatePathConstraints
-       default_planner_request_adapters/ResolveConstraintFrames
-       default_planner_request_adapters/AddTimeParameterization"
+       default_planner_request_adapters/ResolveConstraintFrames"
        />
    <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
diff --git a/launch/ompl-chomp_planning_pipeline.launch.xml b/launch/ompl-chomp_planning_pipeline.launch.xml
index 9c2b7063bbc5172ef1c2e0c3aad0270ef15a2e84..061bd629812a16779fe879b5777ce2a1024931bd 100644
--- a/launch/ompl-chomp_planning_pipeline.launch.xml
+++ b/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -2,12 +2,12 @@
   <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
   <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
     <arg name="planning_adapters" value="
+       default_planner_request_adapters/AddTimeParameterization
        default_planner_request_adapters/FixWorkspaceBounds
        default_planner_request_adapters/FixStartStateBounds
        default_planner_request_adapters/FixStartStateCollision
        default_planner_request_adapters/FixStartStatePathConstraints
-       chomp/OptimizerAdapter
-       default_planner_request_adapters/AddTimeParameterization"
+       chomp/OptimizerAdapter"
        />
   </include>
   <!-- load chomp config -->
diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
index 37d9e68d9e02b2ff87c19560b26c51a8a9da321f..de9a5427a733a131e06bc89bab78832a7aaf1f01 100644
--- a/launch/ompl_planning_pipeline.launch.xml
+++ b/launch/ompl_planning_pipeline.launch.xml
@@ -6,12 +6,12 @@
   <!-- The request adapters (plugins) used when planning with OMPL. 
        ORDER MATTERS -->
   <arg name="planning_adapters" default="
+       default_planner_request_adapters/AddTimeParameterization
+       default_planner_request_adapters/ResolveConstraintFrames
        default_planner_request_adapters/FixWorkspaceBounds
        default_planner_request_adapters/FixStartStateBounds
        default_planner_request_adapters/FixStartStateCollision
-       default_planner_request_adapters/FixStartStatePathConstraints
-       default_planner_request_adapters/ResolveConstraintFrames
-       default_planner_request_adapters/AddTimeParameterization"
+       default_planner_request_adapters/FixStartStatePathConstraints"
        />
   <arg name="start_state_max_bounds_error" value="0.1" />
 
diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/stomp_planning_pipeline.launch.xml
index 496de4e09825769eb89570f16ff6b239b961c643..fccaeab9ecaaade5e8175e4d77e1e576d4738fbc 100644
--- a/launch/stomp_planning_pipeline.launch.xml
+++ b/launch/stomp_planning_pipeline.launch.xml
@@ -4,11 +4,11 @@
   <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
 
   <!-- The request adapters (plugins) ORDER MATTERS -->
-  <arg name="planning_adapters" value="default_planner_request_adapters/FixWorkspaceBounds
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+                                       default_planner_request_adapters/FixWorkspaceBounds
                                        default_planner_request_adapters/FixStartStateBounds
                                        default_planner_request_adapters/FixStartStateCollision
-                                       default_planner_request_adapters/FixStartStatePathConstraints
-                                       default_planner_request_adapters/AddTimeParameterization" />
+                                       default_planner_request_adapters/FixStartStatePathConstraints" />
 
   <arg name="start_state_max_bounds_error" value="0.1" />