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In case it helps anyone else, I made a list of all the package names:

moveit_commander moveit_core
moveit_fake_controller_manager
moveit_msgs
moveit_planners_ompl
moveit_ros_benchmarks
moveit_ros_benchmarks_gui
moveit_ros_control_interface
moveit_ros_manipulation
moveit_ros_move_group
moveit_ros_perception
moveit_ros_planning
moveit_ros_planning_interface
moveit_ros_robot_interaction
moveit_ros_visualization
moveit_ros_warehouse
moveit_setup_assistant
moveit_simple_controller_manager
rqt_moveit

And includes are of the form:

#include <moveit/[namespace]/[header].h>

E.g.:

#include <moveit/robot_model_loader/robot_model_loader.h>

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