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Are you really using a PR2 arm? The IK services you are using are PR2 specific, so I expect it to fail when your arm has a different kinematic chain. Maybe you can provide a little more information on your hardware setup?

If you don't use a PR2 arm, try the more generic arm_kinematics node for calculating IK/FK. At least FK should work without a problem.

A possible launch file for arm_kinematics can look like this:

<launch>
  <node name="al5b_arm_kinematics" type="arm_kinematics" pkg="arm_kinematics">
    <rosparam>
      root_name: shoulder_roll_link
      tip_name: wrist_roll_link
    </rosparam>
  </node>
</launch>

If you want to get IK for laser, you can also replace tip_name with laser.