diff --git a/task_manager/params/task_manager_defaults.yaml b/task_manager/params/task_manager_defaults.yaml
index b8e10d9..d1508b4 100644
--- a/task_manager/params/task_manager_defaults.yaml
+++ b/task_manager/params/task_manager_defaults.yaml
@@ -2,3 +2,4 @@ task_manager:
   ros__parameters:
     tasks: []
     enable_task_servers: False
+    default_task_timeout: 5.0
diff --git a/task_manager/task_manager/task_manager_node.py b/task_manager/task_manager/task_manager_node.py
index f4671e0..c2c066e 100755
--- a/task_manager/task_manager/task_manager_node.py
+++ b/task_manager/task_manager/task_manager_node.py
@@ -59,6 +59,7 @@ class TaskManager(Node):
     def __init__(self, active_tasks: ActiveTasks, parameter_overrides=None) -> None:
         super().__init__("task_manager", parameter_overrides=parameter_overrides)
 
+        self._default_cancel_timeout = self.declare_parameter("default_cancel_timeout", 5.0).value
         qos = QoSProfile(
             depth=10, reliability=QoSReliabilityPolicy.RELIABLE, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL
         )
@@ -122,7 +123,7 @@ def declare_tasks(self):
                 msg_interface=msg_interface,
                 task_server_type=detect_task_server_type(msg_interface),
                 service_success_field=service_success_field,
-                cancel_timeout=self.declare_parameter(f"{task}.cancel_timeout", 5.0).value,
+                cancel_timeout=self.declare_parameter(f"{task}.cancel_timeout", self._default_cancel_timeout).value,
             )
             self.known_tasks[task_specs.task_name] = task_specs
 
diff --git a/task_manager/task_manager/task_registrator.py b/task_manager/task_manager/task_registrator.py
index 032efe4..e3112f3 100644
--- a/task_manager/task_manager/task_registrator.py
+++ b/task_manager/task_manager/task_registrator.py
@@ -151,7 +151,7 @@ def _cancel_task_of_same_type(self, task_name: str) -> None:
             try:
                 task_client.cancel_task()
             except CancelTaskFailedError as e:
-                raise TaskStartError("Failed to cancel previous task of same type.") from e
+                raise TaskStartError(f"Failed to cancel previous task of same type ({task_name}).") from e
 
     def _cancel_active_blocking_task(self) -> None:
         """Cancels the active blocking task if one is running.