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Okay, I uninstalled ROS completely (debian packages and their configs) via

sudo apt-get purge ros-indigo-*

and reinstalled it like described in the tutorial. Then reinstalled the moveit-package and catkin_make the workspace and everything is working well again. (I did not change the workspace).

I guess something was broken in the opt/ros/* folders. Weird...

Thanks gvdhoorn for support!!

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