publishing a trajectory messages

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I am running an optimization problem that takes about 0.5 seconds to solve. The result of this problem is a sequence of (x and y) way-points at particular times for some look-ahead time (let's say 10 seconds, I am doing model predictive control). Then using a low-level controller, I want to (for now neglecting dynamics and working in Gazebo) set the position of the vehicle according to time.

I have looked into a few different thing including message_filters and trajectory_messages. Are these the types of tools that I should be trying to use for this sort of thing, or is there something better suited for this?

Thanks!