diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index db04772600..d9231260c1 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -96,7 +96,8 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
 
 public:
   MoveGroupInterfaceImpl(const rclcpp::Node::SharedPtr& node, const Options& opt,
-                         const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const rclcpp::Duration& wait_for_servers)
+                         const std::shared_ptr<tf2_ros::Buffer>& tf_buffer, const rclcpp::Duration& wait_for_servers,
+                         const rclcpp::Duration wait_for_services = rclcpp::Duration(10,0))
     : opt_(opt), node_(node), tf_buffer_(tf_buffer)
   {
     // We have no control on how the passed node is getting executed. To make sure MGI is functional, we're creating
@@ -165,6 +166,16 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     execute_action_client_ = rclcpp_action::create_client<moveit_msgs::action::ExecuteTrajectory>(
         node_, rclcpp::names::append(opt_.move_group_namespace_, move_group::EXECUTE_ACTION_NAME), callback_group_);
     execute_action_client_->wait_for_action_server(wait_for_servers.to_chrono<std::chrono::duration<double>>());
+    
+    // Function to check if the service server is available
+    auto wait_for_service = [this](auto& client, const std::string& service_name, const rclcpp::Duration& duration) {
+        if (!client->wait_for_service(duration.to_chrono<std::chrono::duration<double>>()))
+        {
+            throw std::runtime_error("Service server not available for service: " + service_name + 
+                                    ". Is move_group running?");
+        }
+        RCLCPP_INFO(node_->get_logger(), "Service '%s' found.", service_name.c_str());
+    };
 
     query_service_ = node_->create_client<moveit_msgs::srv::QueryPlannerInterfaces>(
         rclcpp::names::append(opt_.move_group_namespace_, move_group::QUERY_PLANNERS_SERVICE_NAME),
@@ -179,6 +190,12 @@ class MoveGroupInterface::MoveGroupInterfaceImpl
     cartesian_path_service_ = node_->create_client<moveit_msgs::srv::GetCartesianPath>(
         rclcpp::names::append(opt_.move_group_namespace_, move_group::CARTESIAN_PATH_SERVICE_NAME),
         rmw_qos_profile_services_default, callback_group_);
+    
+    // Check if service servers are available for all the clients
+    wait_for_service(query_service_, move_group::QUERY_PLANNERS_SERVICE_NAME, wait_for_services);
+    wait_for_service(get_params_service_, move_group::GET_PLANNER_PARAMS_SERVICE_NAME, wait_for_services);
+    wait_for_service(set_params_service_, move_group::SET_PLANNER_PARAMS_SERVICE_NAME, wait_for_services);
+    wait_for_service(cartesian_path_service_, move_group::CARTESIAN_PATH_SERVICE_NAME, wait_for_services);
 
     // plan_grasps_service_ = pnode_->create_client<moveit_msgs::srv::GraspPlanning>(GRASP_PLANNING_SERVICE_NAME);