Compilation failed due the failure of finding moveit

[gy2256]

OS: Ubuntu 20.04
ROS: Noetic

This was the error message I received

Errors     << descartes_tutorials:make /home/xv/python_joy_ws/logs/descartes_tutorials/build.make.006.log                                                                                
In file included from /home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/ikfast_moveit_state_adapter.h:22,
                 from /home/xv/python_joy_ws/src/descartes_tutorials/descartes_tutorials/src/tutorial2.cpp:9:
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:26:10: fatal error: moveit/robot_model_loader/robot_model_loader.h: No such file or directory
   26 | #include <moveit/robot_model_loader/robot_model_loader.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/ikfast_moveit_state_adapter.h:22,
                 from /home/xv/python_joy_ws/src/descartes_tutorials/descartes_tutorials/src/tutorial1.cpp:9:
/home/xv/python_joy_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:26:10: fatal error: moveit/robot_model_loader/robot_model_loader.h: No such file or directory
   26 | #include <moveit/robot_model_loader/robot_model_loader.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
compilation terminated.
make[2]: *** [CMakeFiles/descartes_tutorials_tutorial1.dir/build.make:63: CMakeFiles/descartes_tutorials_tutorial1.dir/src/tutorial1.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:245: CMakeFiles/descartes_tutorials_tutorial1.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/descartes_tutorials_tutorial2.dir/build.make:63: CMakeFiles/descartes_tutorials_tutorial2.dir/src/tutorial2.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:218: CMakeFiles/descartes_tutorials_tutorial2.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/xv/python_joy_ws/build/descartes_tutorials; catkin build --get-env descartes_tutorials | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

I have moveit installed on my system with sudo apt install ros-noetic-moveit