If SpaceX and friends can reliably launch cargo and eventually humans into LEO, why can't NASA focus on what to put into space, rather than how to get there? I'm sure I don't understand the mechanics of it, but wouldn't it be possible to put up a few smaller cargo carriers containing fuel and pieces of a trans-mars ship and assemble it in orbit?
I believe SpaceX is planning on developing a still more powerful heavy launch rocket that could shoot human crewed missions straight to Mars in a single shot. The Falcon Heavy could send a substantial payload to the Mars surface.