I tried generating ikfast plugin for my custom robot.Except ikfast all other kinematic plugins are working.If i set ikfast as the kinematic solver,i am not able to move the interactive marker in rviz.I tried almost all permutations and combinations for fixing it.But not able to solve it.I am attaching the robot package in the google drive.I will be happy if someone can help me.

The robot name is innova.Here is the google link for the same : https://drive.google.com/file/d/0B0BF5fAExQSOSXVTc0ZIU3RtOVk/view?usp=sharing