diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp
index 8a9aeb29623..baf69ff237c 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/plugin_container_layer.hpp
@@ -15,7 +15,6 @@
 #ifndef NAV2_COSTMAP_2D__PLUGIN_CONTAINER_LAYER_HPP_
 #define NAV2_COSTMAP_2D__PLUGIN_CONTAINER_LAYER_HPP_
 
-#include <Eigen/Dense>
 #include <cmath>
 #include <memory>
 #include <string>
diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
index 6459b42ed2c..887fd3bf3b8 100644
--- a/nav2_map_server/CMakeLists.txt
+++ b/nav2_map_server/CMakeLists.txt
@@ -22,6 +22,7 @@ find_package(tf2_ros REQUIRED)
 find_package(nav2_ros_common REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 find_package(yaml-cpp REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 pkg_search_module(UUID REQUIRED uuid)
 
@@ -62,6 +63,7 @@ target_link_libraries(${map_io_library_name} PRIVATE
   ${GRAPHICSMAGICKCPP_LIBRARIES}
   tf2::tf2
   yaml-cpp::yaml-cpp
+  Eigen3::Eigen
 )
 
 add_library(${library_name} SHARED
@@ -231,7 +233,7 @@ ament_export_libraries(
   ${map_io_library_name}
   ${vo_library_name}
 )
-ament_export_dependencies(nav_msgs nav2_msgs nav2_util rclcpp rclcpp_lifecycle nav2_ros_common)
+ament_export_dependencies(nav_msgs nav2_msgs nav2_util rclcpp rclcpp_lifecycle nav2_ros_common Eigen3)
 ament_export_targets(${library_name})
 
 ament_package()
diff --git a/nav2_map_server/package.xml b/nav2_map_server/package.xml
index 44045314fa3..e12dcabc2eb 100644
--- a/nav2_map_server/package.xml
+++ b/nav2_map_server/package.xml
@@ -31,6 +31,7 @@
   <depend>lifecycle_msgs</depend>
   <depend>nav2_ros_common</depend>
   <depend>uuid</depend>
+  <depend>eigen</depend>
 
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/nav2_mppi_controller/package.xml b/nav2_mppi_controller/package.xml
index d6301408998..36a7d25af60 100644
--- a/nav2_mppi_controller/package.xml
+++ b/nav2_mppi_controller/package.xml
@@ -29,7 +29,6 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>visualization_msgs</depend>
-  <depend>eigen3_cmake_module</depend>
   <depend>eigen</depend>
   <depend>nav2_ros_common</depend>
 
diff --git a/nav2_smoother/package.xml b/nav2_smoother/package.xml
index f193809becc..7fd2320ab0c 100644
--- a/nav2_smoother/package.xml
+++ b/nav2_smoother/package.xml
@@ -24,7 +24,6 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>nav2_ros_common</depend>
-  <depend>eigen3_cmake_module</depend>
   <depend>eigen</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>