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I have managed to solve the problem. It turned out that the starting configuration of the arm is singular, so that is where IKFast failed to get an IK solution. I intentionally brought the starting configuration to a non-singular one, then it started working. For future readers with the similar problem, I suggest you test the IKFast thoroughly using ikfastdemo.cpp, then integrate with ROS and run a bunch of forward kinematics and inverse kinematics examples both using KDL and IKFast. If the result is good but IKFast is still not working, you may double check your model like Simon suggested and pay attention to singularities. Thanks Simon for the information! You may also find useful discussions here. Thanks Billy and Martin!

I have managed to solve the problem. It turned out that the starting configuration of the arm is singular, so that is where IKFast failed to get an IK solution. I intentionally brought the starting configuration to a non-singular one, then it started working. working.