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Your problem has nothing to do with the path color. You can actually choose this in rviz. See here.

Your problem has nothing to do with the path color. You can actually choose this in rviz. See here.

You should obviously configure your robot footprint correctly. However, there is not enough information to help you with the other errors. At least describe the behaviour in more detail (how is DWA failing, what do you expect), what commands do you launch, ...