diff --git a/include/laser_geometry/laser_geometry.h b/include/laser_geometry/laser_geometry.h
index 4c18b2f..9d60a88 100644
--- a/include/laser_geometry/laser_geometry.h
+++ b/include/laser_geometry/laser_geometry.h
@@ -43,7 +43,7 @@
 #include "sensor_msgs/PointCloud.h"
 #include "sensor_msgs/PointCloud.h"
 
-#include <Eigen3/Core>
+#include <Eigen/Core>
 #include <sensor_msgs/PointCloud2.h>
 
 namespace laser_geometry
@@ -291,7 +291,7 @@ namespace laser_geometry
       std::map<std::string,boost::numeric::ublas::matrix<double>* > unit_vector_map_;
       float angle_min_;
       float angle_max_;
-      Eigen3::ArrayXXd co_sine_map_;
+      Eigen::ArrayXXd co_sine_map_;
       boost::mutex guv_mutex_;
     };
 
diff --git a/manifest.xml b/manifest.xml
index 5b2581b..f3faa14 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -15,7 +15,7 @@ for the skew resulting from moving robots or tilting laser scanners.
 <depend package="roscpp"/>
 <depend package="tf"/>
 <depend package="angles"/>
-<depend package="eigen3"/>
+<depend package="eigen"/>
 <export>
 <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -llaser_geometry"/>
 </export>
diff --git a/src/laser_geometry.cpp b/src/laser_geometry.cpp
index 34230e9..d8ede30 100644
--- a/src/laser_geometry.cpp
+++ b/src/laser_geometry.cpp
@@ -280,8 +280,8 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
                                       int channel_options)
   {
     size_t n_pts = scan_in.ranges.size ();
-    Eigen3::ArrayXXd ranges (n_pts, 2);
-    Eigen3::ArrayXXd output (n_pts, 2);
+    Eigen::ArrayXXd ranges (n_pts, 2);
+    Eigen::ArrayXXd output (n_pts, 2);
 
     // Get the ranges into Eigen format
     for (size_t i = 0; i < n_pts; ++i)
@@ -294,7 +294,7 @@ const boost::numeric::ublas::matrix<double>& LaserProjection::getUnitVectors_(do
     if (co_sine_map_.rows () != (int)n_pts || angle_min_ != scan_in.angle_min || angle_max_ != scan_in.angle_max )
     {
       ROS_DEBUG ("[projectLaser] No precomputed map given. Computing one.");
-      co_sine_map_ = Eigen3::ArrayXXd (n_pts, 2);
+      co_sine_map_ = Eigen::ArrayXXd (n_pts, 2);
       angle_min_ = scan_in.angle_min;
       angle_max_ = scan_in.angle_max;
       // Spherical->Cartesian projection