diff --git a/ar_demo/CMakeLists.txt b/ar_demo/CMakeLists.txt
index 064db1ac7..fc4e682b6 100644
--- a/ar_demo/CMakeLists.txt
+++ b/ar_demo/CMakeLists.txt
@@ -28,7 +28,7 @@ include_directories(
 )
 
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
-find_package(Eigen3  REQUIRED)
+find_package(Eigen3)
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
diff --git a/benchmark_publisher/CMakeLists.txt b/benchmark_publisher/CMakeLists.txt
index aa8570f93..fabccc1cb 100644
--- a/benchmark_publisher/CMakeLists.txt
+++ b/benchmark_publisher/CMakeLists.txt
@@ -15,7 +15,7 @@ catkin_package()
 include_directories(${catkin_INCLUDE_DIRS}) 
 
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
-find_package(Eigen3  REQUIRED)
+find_package(Eigen3)
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
diff --git a/feature_tracker/CMakeLists.txt b/feature_tracker/CMakeLists.txt
index a7b1d1405..bc3fb44c9 100644
--- a/feature_tracker/CMakeLists.txt
+++ b/feature_tracker/CMakeLists.txt
@@ -22,7 +22,7 @@ include_directories(
     )
 
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
-find_package(Eigen3  REQUIRED)
+find_package(Eigen3)
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}
diff --git a/pose_graph/CMakeLists.txt b/pose_graph/CMakeLists.txt
index fd76929ad..d1c70e555 100644
--- a/pose_graph/CMakeLists.txt
+++ b/pose_graph/CMakeLists.txt
@@ -20,7 +20,10 @@ find_package(OpenCV)
 
 find_package(Ceres REQUIRED)
 
-include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS})
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+find_package(Eigen3)
+
+include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS}  ${EIGEN3_INCLUDE_DIR})
 
 catkin_package()
 
diff --git a/vins_estimator/CMakeLists.txt b/vins_estimator/CMakeLists.txt
index bd65eb9f3..05028a5ac 100644
--- a/vins_estimator/CMakeLists.txt
+++ b/vins_estimator/CMakeLists.txt
@@ -24,7 +24,7 @@ find_package(Ceres REQUIRED)
 include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS})
 
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
-find_package(Eigen3  REQUIRED)
+find_package(Eigen3)
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ${EIGEN3_INCLUDE_DIR}