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It looks like your env loader is not set properly. You cannot use the setup.sh as the env loader. You must use a special script which sets the environment and then executes the command that was given to it. http://wiki.ros.org/roslaunch/XML/machine describes the env loader in more detail.

catkin creates an env loader for you in your workspace, instead of setup.sh it's called env.sh.

You can use it with:

<launch>
  <machine
    name="thalia"
    address="thalia"
    env-loader="/home/paul/catkin_ws/devel/env.sh"
    password="mypassword"
  />

  <node
    machine="thalia"
    name="PiServoNode"
    pkg="servos"
    type="ServoNode"
  />
</launch>

I am less familiar with the paramiko issue, but you should be able to add an option to your ssh config which uses the older hash algorithm for that host.

catkin creates an env loader for you in your workspace, instead of setup.sh it's called env.sh.

You can use it with:

<launch>
  <machine
    name="thalia"
    address="thalia"
    env-loader="/home/paul/catkin_ws/devel/env.sh"
    password="mypassword"
  />

  <node
    machine="thalia"
    name="PiServoNode"
    pkg="servos"
    type="ServoNode"
  />
</launch>

I am less familiar with the paramiko issue, but you should be able to add an option to your ssh config which uses the older hash algorithm for that host.

EDIT

I did a quick experiment with my local ssh config, and confirmed that adding the following to my ~/.ssh/config sets the correct hash algorithm for a single remote machine:

Host thalia
HostKeyAlgorithms ssh-rsa

(You can also omit the Host line just put HostKeyAlgorithms ssh-rsa at the top of the file to apply it to all hosts that you connect to)