That's not actually an error, it's informational (HEAD of ipsec-tools has finally changed that to show as INFO in the future). You don't have any indication of any real errors there. It's perfectly fine to restart racoon under Status>Services.
Your remote and local networks are overlapping (the /16 includes the /24, the /16 side should really be /24), you can't route between those two subnets as the /16 end sees the remote end as being local, hence will never touch the firewall to route over the VPN.