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
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