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Looks to me like somewhere in your launch file inclusion chain you are passing an arg called execution_type to scara_moveit_controller_manager.launch.xml, but that file does not have an argument called execution_type (as seen in the original question). The so-called "planning_execution" launch file provided in the original question <include>s several launch files that could be the root cause (planning_context.launch, move_group.launch, and moveit_rviz.launch). Without seeing all of the launch files it's tough to know which one is the root cause. I'd suggest looking in your package for a launch file that uses an <include> tag with scara_moveit_controller_manager.launch.xml that also has an <arg name="execution_type" value="...." /> tag as a child. This is most likely where the error posted is coming from.

Note, I've occasionally found rqt_launchtree very useful for debugging issues like this: http://wiki.ros.org/rqt_launchtree