Start one of the Servo demos like this:

ros2 launch moveit_servo servo_cpp_interface_demo.launch.py

ros2 control list_controllers

You will likely see that panda_arm_controller hasn't finished loading. It's in state finalized when it should be in state active.

We saw the same issue when creating the UR driver and with some other work as well. As a short-term fix, we can split the large launch file into 2 separate launch files and launch with a pause in-between (e.g. panda_controllers.launch and panda_servo.launch).

We might be able to add some type of wait condition in the launch file (new ROS2 feature?).

I don't know what the root cause is.