ROS meets Optimization Engine and they drive a Clearpath Robotics Husky.
You can send the waypoint to the /test/command/pose topic and the MPC controller will try to get the vehicle there.
You must have a working catkin workspace with Clearpath Robotics Husky package. Then you can issue
roslaunch husky_gazebo husky_empty_world.launch
roslaunch open_mpc_controller open_mpc_controller.launch
Thanks to: