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Hi Nitin,

Yes you are correct, Ubuntu 12.04 stable uses Eigen 3.0.X. You can do any of the following;

• Clone eigen repo or download source and compile and install it on your machine
• Upgrade to 3.2 from the following deb provided by the yade crew - http://packages.yade-dem.org/precise/libeigen3-dev_3.2.1-1~precise1_all.deb
• Upgrade to Ubuntu 12.10 or the latest stable Ubuntu 14.04 ( not really recommended until ROS indigo is fully stable on 14.04 )

Mrinal Kalakrishnan's STOMP libraries also require at least eigen 3.1. He got around the issue by catkinising eigen here https://github.com/kalakris/eigen. Though I wouldn't necessarily recommend that.

Hope this helps, Jeremy