Yes, NASA did recover the shuttle's solid rocket boosters, but for a different definition of "recover." They fell into the ocean and required an expensive overhaul.
Makes it that much more interesting that a private company is attempting to recover/reuse at a reasonable price. The cost saving should be substantial, but until the IPO we won't know!
Also of note, the space shuttle missions were the first "reusable" systems. SpaceX is just starting out and they are already attempting it. Very cool!
The difference is just the Shuttle's External tank in 1995 cost 55 million each. not to mention the SRB reconditioning was almost as much as building new boosters. and those are only two costs of prepping a shuttle for each launch. not to mention the extensive processing workflow that takes place. so for the cost of 3 external tanks Nasa is getting a cargo resupply. Thats a bargain even with the current economics (which spacex is keen on shifting downward).
Launches with a reused first stage will probably be sold more cheaply, because component wear means they'll be less reliable (or at least perceived as such). Just how much cheaper they are ought to tell us something about how much SpaceX saves.
