diff --git a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
index 2a269a075c..1efc010d48 100644
--- a/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
+++ b/moveit_setup_assistant/templates/moveit_config_pkg_template/launch/trajectory_execution.launch.xml
@@ -17,8 +17,8 @@
 
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
   <arg name="moveit_controller_manager" default="[ROBOT_NAME]" />
-  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
-    <arg name="execution_type" value="$(arg execution_type)" />
-  </include>
+  <!-- We use pass_all_args=true here to pass execution_type, which is required by fake controllers, but not by real-robot controllers.
+       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
 
 </launch>