Increasing the kinematic solver timeout could indeed reduce the error numbers. If you want to set this param with the code directly, here’s the file on github.
One thing to take into account is that the Niryo One ROS stack is running on a Raspberry Pi 3B board. The computation power is really limited compared to standard laptops used in robotics research with ROS. Most of the ROS stuff you can find on the Internet is running on fast and powerful computers.