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By default, the mpc_follower is configured on the assumption that astar_avoid and velocity_set nodes are used, not tested with OpenPlanners.

The error is comming from mpc_waypoint_converter, which generates the /mpc_waypoints (input for mpc) combining /base_waypoints and /final_waypoints.

To run mpc_follower, please try the followings.

1. comment out here , then the mpc_waypoint_converter is not going to be launched.
2. remap the topic name of the op_global_planner's output waypoints to /mpc_waypoints so that mpc_follower can read the waypoints directly.

Note: Since mpc applies a smoothing filter to the reference path, it may behave strangely if the path is cut at vehicle position as the attached picture. (A path behind vehicle position is required, and that is the role of mpc_waypoint_converter.) So, It might be better to set false to enable_path_smoothing (you can set from launch file, or runtime_manager GUI with app button).