diff --git a/mujoco_ros/CHANGELOG.md b/mujoco_ros/CHANGELOG.md
index a590669..9dac313 100644
--- a/mujoco_ros/CHANGELOG.md
+++ b/mujoco_ros/CHANGELOG.md
@@ -4,6 +4,7 @@
 ### Added
 * Mocap plugin to programmatically control mocap bodies.
 * Services to alter equality constraints. Note that by MuJoCo's design no new constraints can be added, though.
+* The Server node now gives a more verbose error message on failure due to mismatched header and library versions.
 
 ### Fixed
 * Repaired SIGINT handler callback. `C-c` in the roslaunch terminal now shuts down the MuJoCo ROS node instead of escalating to SIGTERM.
diff --git a/mujoco_ros/src/main.cpp b/mujoco_ros/src/main.cpp
index 457341f..9a2c282 100644
--- a/mujoco_ros/src/main.cpp
+++ b/mujoco_ros/src/main.cpp
@@ -130,6 +130,8 @@ int main(int argc, char **argv)
 
 	std::printf("MuJoCo version %s\n", mj_versionString());
 	if (mjVERSION_HEADER != mj_version()) {
+		ROS_ERROR_STREAM("Headers (" << mjVERSION_HEADER << ") and library (" << mj_versionString()
+		                             << ") have different versions");
 		mju_error("Headers and library have different versions");
 	}