Way-point color change if not in IK solution

Check if way-point is in the IK Solution. If IK solution is not found the way-point changes its color to yellow.
The IK solver has 1 iteration and 0.001 seconds timeout for each attempt for solving IK.
I don't know about a MoveIt call, but isn't it customary to let the user set frames as part of the RViz plugin settings?