Rogers provides the Pirates with a versatile infielder who can slot in at first and third base, as well as play the outfield.
"This was about acquiring an offensive player that we like and think fits very well on our club," Pirates general manager Neal Huntington told MLB.com's Adam Berry. "In return, we gave up an incredibly athletic, quality defensive outfielder in Broxton that has some bat potential.
"We gave up a quality young arm in Supak that's not far removed from being a high draft pick. The challenge in this industry is to get talent, you have to give up talent. We were willing to do that given the player we were acquiring."
Rogers, 27, hit .296/.367/.441 with four home runs and 16 RBIs across 169 plate appearances in 2015 for the Brewers.
Broxton, 25, is a former third-round pick of the Arizona Diamondbacks. He appeared in seven big-league games for the Pirates last season, scoring three runs, while only getting to bat twice.
The speedy outfielder stole 39 bases across two levels in the minors while slashing .273/.357/.438 with 10 home runs, 27 doubles, and 68 RBIs.
Supak posted a 1-2 record with a 6.67 ERA across 8 starts in Rookie ball.