When using vaadin.urlMapping in combination with the @StyleSheet annotation, you need to specify the context:// “protocol”, since Aura and Lumo CSS are served directly by the servlet container (@StyleSheet("context://aura/aura.css").
The same goes for all stylesheets loaded from static resources folders (e.g. META-INF/resources), e.g. for META-INF/resources/styles.css use @StyleSheet("context://styles.css")