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This question is a year old but a comprehensive tutorial for setting up IKFast using your URDF is finally available here, thanks to David Butterworth: http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution

That said, while I have gotten the IKFast plugin to generate and compile, I have not had any luck getting it to actually find solutions while running. Still working on that.

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