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We had the same issue with controlling a Kinova MICO arm using MoveIt!. Placing the following lines in our launch file seems to have fixed all issues related to controller time-out as well as goal tolerances.

<param name="move_group/trajectory_execution/allowed_execution_duration_scaling" value="4.0" />
<param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" />

We found this by looking at the namespaces in rqt_reconfigure for move_group -> trajectory_execution.

Hope this helps!

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