It says that there is an undefined reference to a few libffi libraries, I have checked by libffi installation, I have libffi-dev:amd64, libffi7:amd64 and libffi7:i386 installed.

Errors     << moveit_ros_planning_interface:make /home2/kallol.saha/ws_moveit/logs/moveit_ros_planning_interface/build.make.002.log                                                          
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_closure_alloc@LIBFFI_CLOSURE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_type_uint8@LIBFFI_BASE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_prep_closure_loc@LIBFFI_CLOSURE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_type_uint64@LIBFFI_BASE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_type_pointer@LIBFFI_BASE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_prep_cif@LIBFFI_BASE_7.0'
collect2: error: ld returned 1 exit status
make[2]: *** [test/CMakeFiles/test_cleanup.dir/build.make:183: /home2/kallol.saha/ws_moveit/devel/.private/moveit_ros_planning_interface/lib/moveit_ros_planning_interface/test_cleanup] Error 1
make[1]: *** [CMakeFiles/Makefile2:4098: test/CMakeFiles/test_cleanup.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_closure_alloc@LIBFFI_CLOSURE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_type_uint8@LIBFFI_BASE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_prep_closure_loc@LIBFFI_CLOSURE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_type_uint64@LIBFFI_BASE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_type_pointer@LIBFFI_BASE_7.0'
/usr/bin/ld: /lib/x86_64-linux-gnu/libp11-kit.so.0: undefined reference to `ffi_prep_cif@LIBFFI_BASE_7.0'
collect2: error: ld returned 1 exit status
make[2]: *** [move_group_interface/CMakeFiles/demo.dir/build.make:279: 

/home2/kallol.saha/ws_moveit/devel/.private/moveit_ros_planning_interface/lib/moveit_ros_planning_interface/demo] Error 1
    make[1]: *** [CMakeFiles/Makefile2:3298: move_group_interface/CMakeFiles/demo.dir/all] Error 2
    make: *** [Makefile:141: all] Error 2
    cd /home2/kallol.saha/ws_moveit/build/moveit_ros_planning_interface; catkin build --get-env moveit_ros_planning_interface | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -