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I found the problem. Some dependencies were missing in the package.xml:

  <depend>moveit_core</depend>
  <depend version_gte="1.11.2">pluginlib</depend>

I found ~~the problem.~~ a solution. Some dependencies were missing in the package.xml:

  <depend>moveit_core</depend>
  <depend version_gte="1.11.2">pluginlib</depend>

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