std::shared_ptr<TimeOptimalParameterizationProfile> profile;
  try
  {
    profile = std::make_shared<TimeOptimalParameterizationProfile>(
        tesseract_common::Serialization::fromArchiveFileXML<TimeOptimalParameterizationProfile>(profile_path));
  }
  catch (const std::exception& ex)
  {
    RCLCPP_WARN_STREAM(logger, "Could not load profile " << profile_path.filename() << ": " << ex.what());
  }
  if (!profile)
  {
    // Create default profile
    profile = std::make_shared<TimeOptimalParameterizationProfile>(
        max_velocity_scaling_factor, max_acceleration_scaling_factor, max_jerk_scaling_factor, 0.1, 0.001);
  }