I don't know how you have setup your own buildfarm and what packages you are actually building. But looking at the official build farm and the status of the `moveit_ros_planning` package:
http://repositories.ros.org/status_page/ros_kinetic_default.html?q=moveit_ros_planning
The public repo contains an older release of the package (the blue boxes in the X64 and X32 columns). So if you are using that apt repo you can successfully install the Debian package. But the current version fails to build (red boxes in the X64 and X32 columns) and therefore there is no Debian package available in the building and testing apt repos.
On the official farm that is caused be the latest OpenCV3 release which fails to build the sourcedeb (see
http://build.ros.org/view/Kbin_uX64/job/Ksrc_uX__opencv3__ubuntu_xenial__source/). And that package is a transitive dependency of `moveit_ros_planning`. So until a new OpenCV3 is being made that problem will stay the same.
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