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Trouble with Moveit iKFast

Hello, I am in need of some guidance.

I'm working on a 5DOF robot manipulator and trying to use it with MoveIt! I found out that its not possible to use the IK solver that comes by default. So I tried creating an IKFast solver using TranslationDirection5D, however it fails to generate the IK Solver: self.CannotSolveError('failed to find a variable to solve') __main__.CannotSolveError: 'failed to find a variable to solve' sigh...

Know I am at a point where I think I need to create my own IK Solver. So I'm asking for any hint on where to start on writing this code.

Thank you in advance.

For reference I'm on Ubuntu 12.04 64bit running Hydro.