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I figured out how to fix this problem for me:

Follow install steps for the ros warehouse http://moveit.ros.org/install/source/dependencies/.
(You might not need this depending on your version of moveit) Make the changes in this pull request locally to fix moveit https://github.com/ros-planning/moveit/pull/81/files.
Launch the ros warehouse! roslaunch <YOUR_GENERATED_moveit_config>/launch/default_warehouse_db.launch I got this file from the moveit setup wizard.

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