This is a permissions error that Voyager displays when no Esri extractors are available, which in turn is caused by the lack of a valid ArcGIS license.
Troubleshooting the Error
Verify that Voyager can check out an Esri license
Go to Manage Voyager > Settings > ArcGIS
Voyager displays the status of Esri licenses in the License pane
For checked-out valid licenses, Voyager displays esriLicenseCheckedOut on the Status line
For invalid licenses, Voyager displays esriLicenseNotLicensed on the Status line
Verify that Esri extractors are available
Go to Manage Voyager > Discovery > Formats
Click Extractors at the bottom of the list at the right
Voyager shows a list of all extractors
Available extractors show a green check mark
Unavailable extractors show a red X
In the example above, none of the Esri extractors are available
Further Steps
With ArcGIS Desktop, the Voyager service must be run by an ADMIN user to access any ArcGIS capabilities (not just a system user with access to ArcMap)
Check if a 32-bit ArcGIS package is installed, which can cause issues with a 64-bit Voyager process/service
Confirm that the license isn't already being used by another ArcGIS client application
Confirm that the license has been correctly initialized