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I am still not sure is it a bug or not, but with this patch it works

--- a/arm_kinematics_constraint_aware/src/arm_kinematics_constraint_aware.cpp    2012-09-20 19:57:27.443296318 +0900
+++ b/arm_kinematics_constraint_aware/src/arm_kinematics_constraint_aware.cpp   2012-09-20 19:58:20.796409267 +0900
@@ -339,6 +339,8 @@ bool ArmKinematicsConstraintAware::getPo
                                       request.fk_link_names,
                                       poses);
   if(valid) {
+    response.pose_stamped.resize(poses.size());
+    response.fk_link_names.resize(request.fk_link_names.size());
     for(unsigned int i=0; i < poses.size(); i++) { 

       std_msgs::Header world_header;
       world_header.frame_id = collision_models_interface_->getWorldFrameId();

I am still not sure is it a bug or not, but with this patch it works

--- a/arm_kinematics_constraint_aware/src/arm_kinematics_constraint_aware.cpp    2012-09-20 19:57:27.443296318 +0900
+++ b/arm_kinematics_constraint_aware/src/arm_kinematics_constraint_aware.cpp   2012-09-20 19:58:20.796409267 +0900
@@ -339,6 +339,8 @@ bool ArmKinematicsConstraintAware::getPo
                                       request.fk_link_names,
                                       poses);
   if(valid) {
+    response.pose_stamped.resize(poses.size());
response.pose_stamped.resize(request.fk_link_names.size());
+    response.fk_link_names.resize(request.fk_link_names.size());
     for(unsigned int i=0; i < poses.size(); i++) { 

       std_msgs::Header world_header;
       world_header.frame_id = collision_models_interface_->getWorldFrameId();