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diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0868430..e45a02c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,6 +29,9 @@ find_package(catkin REQUIRED COMPONENTS
find_package(Boost COMPONENTS signals)
find_package(Eigen3 REQUIRED)
+if (NOT DEFINED EIGEN3_INCLUDE_DIR)
+ get_target_property(EIGEN3_INCLUDE_DIR Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
+endif ()
# Resolve system dependency on yaml-cpp, which apparently does not
# provide a CMake find_package() module.
find_package(PkgConfig REQUIRED)
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