Partially fill a shop vac with soapy water, stick the nozzle as close to the nest entrance as possible, then turn on the vacuum and hear the wasps get sucked into the machine as they try to enter or exit the nest. It takes a few hours, and potentially a couple of separate sessions to mop up any stragglers.
No fancy beekeeper suit necessary, and, best of all, no need to spread nasty poisons.