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I believe your issue is in the second-to-last line:

waypoints_pub.publish(traj);

Specifically, a ROS publisher can only publish ROS messages (see the API docs), but traj is a std::vector, which explains the line your error:

error: ‘const class std::vector<geometry_msgs::point_<std::allocator<void> > >’ has no member named ‘__getMD5Sum’

The publisher expect the type that you pass in to have the method __getMD5Sum, which std::vector does not have.

I expect that you are looking for some message in trajectory_msgs, or you could make your own message that is a list of geometry_msgs::Points.