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Can I use the standard KDL plugin

No. You cannot use the IkFastMoveitStateAdapter with a KDL based plugin.

(this seems obvious: the name IkFastMoveitStateAdapter seems to indicate this already)

or I need to build a custom IKFast plugin for my robot?

Yes.

Descartes depends on the IK plugin returning 'all' joint space solutions for a particular Cartesian pose, otherwise it has nothing to chose from / optimise for. KDL cannot reliably return those solutions, as it is a numerical solver.

Can I use the standard KDL plugin

No. You cannot use the IkFastMoveitStateAdapter with a KDL based plugin.

(this seems obvious: the name IkFastMoveitStateAdapter seems to indicate this already)

or I need to build a custom IKFast plugin for my robot?

Yes.

Descartes depends on the IK plugin returning 'all' joint space solutions for a particular Cartesian pose, otherwise it has nothing to chose from / optimise for. KDL cannot reliably return those solutions, as it is a numerical solver.

Can I use the standard KDL plugin

No. You cannot use the IkFastMoveitStateAdapter with a KDL based plugin.

(this seems obvious: the name IkFastMoveitStateAdapter seems to indicate this already)

or I need to build a custom IKFast plugin for my robot?

Yes.

Descartes depends on the IK plugin returning 'all' joint space solutions for a particular Cartesian pose, otherwise it has nothing to chose from / optimise for. KDL cannot reliably return those solutions, as it is a numerical solver.

I found a similar issue here, but somehow it does not solve my problem

Jorge seems to explain it quite well in the issue you link:

Instead you can instantiate an IkFastMoveitStateAdapter object which will load the kinematics plugin of your arm as long as it is provided in the "kinematics.yaml" of the moveit config package. This flavor of the Descartes Robot Model assumes the the underlying kinematics is running a closed-form solver and so it'll exploit that fact in order to generate more pose samples and potentially produce a better path.

Can I use the standard KDL plugin

No. You cannot use the IkFastMoveitStateAdapter with a KDL based plugin.

(this seems obvious: the name IkFastMoveitStateAdapter seems to indicate this already)

or I need to build a custom IKFast plugin for my robot?

Yes.

Descartes depends on the IK plugin returning 'all' joint space solutions for a particular Cartesian pose, otherwise it has nothing to chose from / optimise for. KDL cannot reliably return those solutions, as it is a numerical solver.

I found a similar issue here, but somehow it does not solve my problem

Jorge seems to explain it quite well in the issue you link:

Instead you can instantiate an IkFastMoveitStateAdapter object which will load the kinematics plugin of your arm as long as it is provided in the "kinematics.yaml" of the moveit config package. This flavor of the Descartes Robot Model assumes the the underlying kinematics is running a closed-form solver and so it'll exploit that fact in order to generate more pose samples and potentially produce a better path.

Can I use the standard KDL plugin

No. You cannot use the IkFastMoveitStateAdapter with a KDL based plugin.

(this seems obvious: the name IkFastMoveitStateAdapter seems to indicate this already)

or I need to build a custom IKFast plugin for my robot?

Yes.

Descartes depends on the IK plugin returning 'all' joint space solutions for a particular Cartesian pose, otherwise it has nothing to chose choose from / optimise for. KDL cannot reliably return those solutions, as it is a numerical solver.

I found a similar issue here, but somehow it does not solve my problem

Jorge seems to explain it quite well in the issue you link:

Instead you can instantiate an IkFastMoveitStateAdapter object which will load the kinematics plugin of your arm as long as it is provided in the "kinematics.yaml" of the moveit config package. This flavor of the Descartes Robot Model assumes the the underlying kinematics is running a closed-form solver and so it'll exploit that fact in order to generate more pose samples and potentially produce a better path.

What would be good to verify (over at Descartes' issue tracker) is whether the MoveitStateAdapters are still needed. MoveIt's IK plugin class got extended to support everything that Descartes needs, so the intermediary may not be necessary any more. But I would suggest you verify this with the developers.