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I find the problem:

moveit_msgs::RobotTrajectory trajectory;
const double jump_threshold = 0.5; 
const double eef_step = 0.01;
move_group.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);

The solution ist to set the jump_threshold to 0.0. Then the robot start to move without issues.

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