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I am assuming that you are asking about the Catholic Church. It's just Catholic, not Roman Catholic. Roman is an epithet first commonly used in England after the protestant revolt to describe the Catholic Church. It is never used by the official Catholic Church. The term "mission" literally means sending, and there are many sendings: The Father sent the Son to be incarnate of the Virgin Mary. The Son send the Apostles out to preach His Good News, and He sent the Holy Spirit to guide it all days. The vision of the Catholic Church is simple: heaven, to be with God.

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from The Catechism of the Catholic Church, second edition, English translation 1994

Mission - a requirement of the Church's catholicity.

849 The missionary mandate. "Having been divinely sent to the nations that she might be 'the universal sacrament of salvation,' the Church, in obedience to the command of her founder and because it is demanded by her own essential universality, strives to preach the Gospel to all men": (Ad gentes 1; cf. Mt 16:15.) "Go therefore and make disciples of all nations, baptizing them in the name of the Father and of the Son and of the Holy Spirit, teaching them to observe all that I have commanded you; and Lo, I am with you always, until the close of the age." (Mt 28:19-20)

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Q: What is the vision and mission of the Roman Catholic Church?
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