diff --git a/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml b/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
index 584a4163..28b14c5c 100644
--- a/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
+++ b/panda_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -6,7 +6,8 @@
   <!-- The request adapters (plugins) used when planning with OMPL.
        ORDER MATTERS -->
   <arg name="planning_adapters"
-       value="default_planner_request_adapters/AddTimeParameterization
+       value="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+              default_planner_request_adapters/AddTimeParameterization
               default_planner_request_adapters/ResolveConstraintFrames
               default_planner_request_adapters/FixWorkspaceBounds
               default_planner_request_adapters/FixStartStateBounds
diff --git a/panda_moveit_config/launch/trajopt_planning_pipeline.launch.xml b/panda_moveit_config/launch/trajopt_planning_pipeline.launch.xml
index b3e79233..78a897b9 100644
--- a/panda_moveit_config/launch/trajopt_planning_pipeline.launch.xml
+++ b/panda_moveit_config/launch/trajopt_planning_pipeline.launch.xml
@@ -5,7 +5,8 @@
 
   <!-- The request adapters (plugins) used when planning with TrajOpt.
        ORDER MATTERS -->
-  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+  <arg name="planning_adapters" value="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+               default_planner_request_adapters/AddTimeParameterization
 				       default_planner_request_adapters/FixWorkspaceBounds
 				       default_planner_request_adapters/FixStartStateBounds
 				       default_planner_request_adapters/FixStartStateCollision