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The only package needed from franka_ros by the panda_moveit_config package is the franka_description package which doesn't change from kinetic to melodic.

Until Franka releases a franka_description package as a Debian, you can build the tutorials from source by building franka_description from source. One small issue with simply cloning franka_ros and building it from source is that there are a lot of additional pacakges that you don't want. To work around this, you can clone the franka_ros repo then tell catkin to ignore the rest of the packages from that repo by following the steps below

In your $CATKIN_SRC/src/ directory..

git clone git@github.com:frankaemika/franka_ros.git
cd franka_ros
declare -a franka_packages=(
    "franka_control/"
    "franka_example_controllers/"
    "franka_gripper/"
    "franka_hw/"
    "franka_msgs/"
    "franka_ros/"
    "franka_visualization/"
    "panda_moveit_config/"
)
for (( i = 0; i < ${#franka_packages[@]}; i++ ))
do
    if [ -d "${franka_packages[i]}" ]; then
        cd "${franka_packages[i]}" 
        echo "ignoring ${franka_packages[i]}" 
        touch CATKIN_IGNORE 
        cd ..
    else
        echo "Could not find directory ${franka_packages[i]}"
    fi
done

cd ..
catkin build

This should help solve your problem :)