diff --git a/manifest.xml b/manifest.xml
index f68cf03..5b2581b 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -17,7 +17,7 @@ for the skew resulting from moving robots or tilting laser scanners.
 <depend package="angles"/>
 <depend package="eigen3"/>
 <export>
-<cpp cflags="-I${prefix}/include -I${prefix}/msg/cpp" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -llaser_geometry"/>
+<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -llaser_geometry"/>
 </export>
   <platform os="ubuntu" version="9.04"/>
   <platform os="ubuntu" version="9.10"/>
diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp
index 34230e9..c4a96b0 100644
--- a/src/laser_geometry.cpp
+++ b/src/laser_geometry.cpp
@@ -29,6 +29,7 @@
 
 #include "laser_geometry/laser_geometry.h"
 #include <algorithm>
+#include <Eigen3/Core>
 
 namespace laser_geometry
 {