diff --git a/stretch_calibration/launch/collect_head_calibration_data.launch b/stretch_calibration/launch/collect_head_calibration_data.launch
index 5b3dc3a..01f30c2 100644
--- a/stretch_calibration/launch/collect_head_calibration_data.launch
+++ b/stretch_calibration/launch/collect_head_calibration_data.launch
@@ -13,6 +13,7 @@
 
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
 
   <param name="robot_description"
 	 textfile="$(arg uncalibrated_urdf_file)"/>
diff --git a/stretch_core/launch/wheel_odometry_test.launch b/stretch_core/launch/wheel_odometry_test.launch
index 57c5517..f6583bc 100644
--- a/stretch_core/launch/wheel_odometry_test.launch
+++ b/stretch_core/launch/wheel_odometry_test.launch
@@ -13,6 +13,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
   <!-- -->
   
diff --git a/stretch_deep_perception/launch/stretch_detect_body_landmarks.launch b/stretch_deep_perception/launch/stretch_detect_body_landmarks.launch
index b9d5d68..2dbef96 100644
--- a/stretch_deep_perception/launch/stretch_detect_body_landmarks.launch
+++ b/stretch_deep_perception/launch/stretch_detect_body_landmarks.launch
@@ -12,6 +12,7 @@
 
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" />
   <!-- -->
 
diff --git a/stretch_deep_perception/launch/stretch_detect_faces.launch b/stretch_deep_perception/launch/stretch_detect_faces.launch
index 8947962..54b4043 100644
--- a/stretch_deep_perception/launch/stretch_detect_faces.launch
+++ b/stretch_deep_perception/launch/stretch_detect_faces.launch
@@ -12,6 +12,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" />
   <!-- -->
 
diff --git a/stretch_deep_perception/launch/stretch_detect_nearest_mouth.launch b/stretch_deep_perception/launch/stretch_detect_nearest_mouth.launch
index 5a3f372..6e4c39b 100644
--- a/stretch_deep_perception/launch/stretch_detect_nearest_mouth.launch
+++ b/stretch_deep_perception/launch/stretch_detect_nearest_mouth.launch
@@ -12,6 +12,7 @@
 
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" />
   <!-- -->
 
diff --git a/stretch_deep_perception/launch/stretch_detect_objects.launch b/stretch_deep_perception/launch/stretch_detect_objects.launch
index de7b7d8..24b2c03 100644
--- a/stretch_deep_perception/launch/stretch_detect_objects.launch
+++ b/stretch_deep_perception/launch/stretch_detect_objects.launch
@@ -12,6 +12,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" />
   <!-- -->
 
diff --git a/stretch_demos/launch/clean_surface.launch b/stretch_demos/launch/clean_surface.launch
index 8a68d9e..533a0dc 100644
--- a/stretch_demos/launch/clean_surface.launch
+++ b/stretch_demos/launch/clean_surface.launch
@@ -12,6 +12,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
   <!-- -->
     
diff --git a/stretch_demos/launch/handover_object.launch b/stretch_demos/launch/handover_object.launch
index fb2273f..d4fd5db 100644
--- a/stretch_demos/launch/handover_object.launch
+++ b/stretch_demos/launch/handover_object.launch
@@ -11,6 +11,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
   <!-- -->
 
diff --git a/stretch_demos/launch/hello_world.launch b/stretch_demos/launch/hello_world.launch
index b2e8e9f..e804d41 100644
--- a/stretch_demos/launch/hello_world.launch
+++ b/stretch_demos/launch/hello_world.launch
@@ -12,6 +12,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
   <!-- -->
 
diff --git a/stretch_demos/launch/open_drawer.launch b/stretch_demos/launch/open_drawer.launch
index 13231c4..fb7a7ee 100644
--- a/stretch_demos/launch/open_drawer.launch
+++ b/stretch_demos/launch/open_drawer.launch
@@ -12,6 +12,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
   <!-- -->
 
diff --git a/stretch_funmap/launch/mapping.launch b/stretch_funmap/launch/mapping.launch
index b3e7f89..2a0e74f 100644
--- a/stretch_funmap/launch/mapping.launch
+++ b/stretch_funmap/launch/mapping.launch
@@ -16,6 +16,7 @@
   
   <!-- STRETCH DRIVER -->
   <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="false"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="false"/>
   <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
   <!-- -->