diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp
index f91eb3e9d9..57366f88a8 100644
--- a/joint_trajectory_controller/src/trajectory.cpp
+++ b/joint_trajectory_controller/src/trajectory.cpp
@@ -175,8 +175,8 @@ bool Trajectory::sample(
 
         interpolate_between_points(t0, point, t1, next_point, sample_time, output_state);
       }
-      start_segment_itr = begin() + static_cast<std::ptrdiff_t>(i);
-      end_segment_itr = begin() + static_cast<std::ptrdiff_t>(i + 1);
+      start_segment_itr = begin() + static_cast<TrajectoryPointConstIter::difference_type>(i);
+      end_segment_itr = begin() + static_cast<TrajectoryPointConstIter::difference_type>(i + 1);
       if (search_monotonically_increasing)
       {
         last_sample_idx_ = i;
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
index 656bed11d5..b0e66394d1 100644
--- a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
+++ b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
@@ -468,7 +468,8 @@ class TrajectoryControllerTest : public ::testing::Test
     {
       traj_msg.joint_names = {
         joint_names_.begin(),
-        joint_names_.begin() + static_cast<std::ptrdiff_t>(points_positions[0].size())};
+        joint_names_.begin() +
+          static_cast<std::vector<std::string>::difference_type>(points_positions[0].size())};
     }
     else
     {