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.
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
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
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