Simple Way  point planner to move the AGV from point A to B

Hi there,
I intend to move the AGV from START to GOAL point by sampling some way points. So far I have used the URDF to spawn the AGV. What can I do now to write a node to make the robot move between 2 points ? Also do I need to do sudo apt-get-install ros-hydro-ackermann-msgs-\* to make the path planner work?
Please help.
