Eigen has been replaced with a rosdep system dependency. Electric also switched to Eigen 3. To migrate from Eigen2 to Eigen 3 see this guide

Electric: Porting to system dependency

Starting in ROS Electric, Eigen 3 is installed as a system dependency. This means that you compile against Eigen 3 without requiring any ROS-specific build tools.

CMakeLists.txt

For convenience, the system install includes CMake config files for easily finding and configuring Eigen in your CMakeLists.txt using the normal find_package() macro:

find_package(Eigen REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})

Eigen is a header-only library, so you do not need to specify any linking.

Unfortunately, Eigen on Ubuntu does not have a FindEigen.cmake file and we do not have that file in a ROS package yet. You need to include it by default in your package (in a ./cmake folder for example). You can get if from here: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk/laser_geometry/cmake/FindEigen.cmake

You then need to add the following before the find_package CMake instruction:

list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

Package/stack dependencies

Eigen is defined in the common_rosdeps stack/package. You will need to update

1. manifest.xml

     <depend package="common_rosdeps" />
     <rosdep name="eigen" />

2. stack.xml

     <depend stack="common_rosdeps" />

Documentation

Please see the Eigen homepage for documentation on the Eigen library. See also:

• Eigen API Documentation

• Eigen 2 to 3 conversion guide.

To help you get started with Eigen, we've put together an Eigen Cookbook.