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You can see which waypoints are not increasing in time by looping through the computed RobotTrajectory and checking the 'time_from_start' on each point. I often find that it is only the first two points or the last two points in the trajectory that have the same value for 'time_from_start'. If you remove one of the points with equal 'time_from_start' you should be able to execute the trajectory.

You should also be able to prevent this issue altogether by increasing the value of the 'eff_step' argument in computeCartesianPath. As you lower the value of 'eff_step' you will get more points with equal 'time_from_start'. As an experiment, I tried entering some ridiculously low values for 'eff_step'. At an 'eff_step' of 0.00001, almost every other point was not increasing in time.