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.
Hard coding this frame is very fragile.  I'm not sure "/world_link" is correct.  Is there a MoveIt call to get the base frame of the robot?