HI,
In order to provision an AP as a RAP you should meet the following requirements,
1. VPN settings in the controller ( IKE pool and IKE PSK)
2. RAP whitelist in case if you are provisioning cert based RAP
3. a valid username and password ( Local Db) for PSK based deployment.
3. UDP 4500 traffic should be allowed in the network.
To ensure the above please run the following show commands,
1. Show log security -- to confirm IKE related config and whitelist
2. Show datapsth sessio -- to confirm whether 4500 traffic is flowing or not
If possible please share the output of "show datapath session"
Please feel free for any further help on this.