Yep, Ruapehu is the one Waiouru is closest to.
It's one of three (Tongariro, Ngauruhoe are the other two) which are
side vents to Taupo, the main caldera.
You know how Waiouru is on the south side of the desert road plateau? Where the road climbs steeply to the north?
Most of that material of the plateau is the initial ejecta formed in two explosions by the Taupo caldera, one 26,000 years ago and the more recent and violent in 181ad. Both the Romans and Chinese recorded the stratospheric ash clouds from that one, and what is now known as lake Taupo is the vent. (no doubt you visited Taupo while you were there?)
I stood on the flanks of Ruapehu during the last sizeable eruption in 96, it was absolutely awesome and thank god was only a fart in comparison to the big eruptions.