Looks like you have a miss match of using a long unsigned int and just an unsigned int, but adding long caused other problems:

```
/home/dave/ros/ws_gazebo/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:318:3:   instantiated from ‘bool joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::init(hardware_interface::PositionJointInterface*, ro\
s::NodeHandle&, ros::NodeHandle&) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>, HardwareInterface = hardware_interface::PositionJointInterface]’
/home/dave/ros/ws_gazebo/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:59:1:   instantiated from here
/home/dave/ros/ws_gazebo/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:527:114: error: conversion from ‘std::vector<long unsigned int>’ to non-scalar type ‘std::vector<unsigned int>’ requested
```