Sometimes people wonder why aeroplanes are so cheap and rockets are so expensive. Even the most superficial comparison shows one obvious difference: aeroplane engines use outside air to burn their fuel, while rockets have to carry their own oxidisers along.
Claiming that solid rockets are necessary for a heavy-lift launcher is obvious nonsense.
Solid-fuel rockets can't easily be shut down on command.
Developing expendable rockets is always going to be painful and expensive. Throwing the whole rocket away on each attempt not only costs a lot, it also hampers figuring out just what went wrong because you don't get the rocket back for inspection.
Large solid rockets have never been a very good way to build launchers that might have crews on top, especially because of the problems in getting the crew away from a failing launcher.
Reusable rockets promise much easier testing because you should usually get them back, and you can debug as you go rather than having to get everything perfect the first time.
Past experience, on the shuttle and the Titan rockets, suggests that large multi-segment solid rockets have a probability of failure of 0.5 to 1 per cent.
Supplying fuel for a Mars expedition from the lunar surface is often suggested, but it's hard to make it pay off - Moon bases are expensive, and just buying more rockets to launch fuel from Earth is relatively cheap.
Whether solid rockets are more or less likely to fail than liquid-fuel rockets is debatable. More serious, though, is that when they do fail, it's usually violent and spectacular.
The key virtue of orbital assembly is that it eliminates the tight connection between the size of the expedition and the size of the rockets used to launch it.