Answer to Question 2:
The launch file is not updated for the latest config message type.
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_loader autoware_config_msgs/ConfigWaypointLoader
For develop branch, edit as following.
- args="pub -l /config/waypoint_loader autoware_msgs/ConfigWaypointLoader
+ args="pub -l /config/waypoint_replanner autoware_config_msgs/ConfigWaypointReplanner