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Hi, cannot try by myself, as I have now a quite different configuration. But looking at head_tracker code, looks like it tries to subscribe to a service that doesn't exists: torque_enable. Arbotix provides a service for each servo named just "enable"... looks like a reasonable bet that they are the same. So you can try to remap from torque_enable to torque.

Or given that ros-by-example code is several years old, probably better fork it so you can update those parts that had become obsolete, something that the author will probably appreciate.