Answer to Question 2: The launch file is not updated for the latest waypoint_loader and waypoint_replanner. Please edit line 20 of my_mission_planning.launch as following. - args="pub -l /config/waypoint_loader autoware_msgs/ConfigWaypointLoader + args="pub -l /config/waypoint_replanner autoware_config_msgs/ConfigWaypointReplanner --- [Visit Topic](https://discourse.ros.org/t/how-to-use-vector-maps-in-autoware-localization-node/7995/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: