diff --git a/ur_calibration/package.xml b/ur_calibration/package.xml
index e15e130..05a74ee 100644
--- a/ur_calibration/package.xml
+++ b/ur_calibration/package.xml
@@ -49,6 +49,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>eigen</depend>
   <depend>roscpp</depend>
   <depend>ur_rtde_driver</depend>
   <depend>yaml-cpp</depend>
diff --git a/ur_rtde_driver/package.xml b/ur_rtde_driver/package.xml
index 75770ec..1ba16b9 100644
--- a/ur_rtde_driver/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -28,7 +28,7 @@
   <depend>industrial_msgs</depend>
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>Eigen3</depend>
+  <depend>eigen</depend>
   <depend>trajectory_msgs</depend>
   <depend>ur_controllers</depend>
   <depend>ur_msgs</depend>