Which package should I use in CMakeLists.txt?

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I want to use the MoveIt! package on ROS indigo, and I am following the tutorial at http://docs.ros.org/hydro/api/pr2_mov... .

As an example of how to use MoveIt! in C++, the tutorial provides the following line:

moveit::planning_interface::MoveGroup group("right_arm");

What I am trying to figure out, is how to actually compile this. So, I have built a new ROS package, and in the CMakeLists.txt file for that package, I need to specify where to look for header and library files. But how do I know the name of the package that is required for the above code?

If I look in /opt/ros/indigo/include, there are various directories such as moveit, moveit_msgs, moveit_planners_ompl, and similarly in /opt/ros/indigo/lib and /opt/ros/indigo/share. Is each of these directories a package, or is each one a node, or something else?

After doing a bit of research, I found that the moveit::planning_interface::MoveGroup class from the above code is defined in /opt/ros/indigo/include/moveit/move_group_interface/move_group.h. This suggests to me that I should be using the moveit or move_group_interface packages, but if I try either of these, then it fails. For example, in my CMakeLists.txt file, if I have:

find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg moveit)

And then I try to build my package, it tells me:

Could not find a package configuration file provided by "moveit"

And similarly for move_group_interface.

So I'm obviously a bit confused as to what ROS packages actually are, where they are stored on my machine, and how to know which one I should be referencing in CMakeLists.txt. Any help? Thanks :)