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The question is not really related to the problem, but here's my answer to your actual problem with Eigen specifically. It's an issue with Ubuntu 14.04's installation of Eigen3 which I guess must have changed since the Moveit code was written. You can fix this by creating a symlink from /usr/include/eigen3/Eigen to /usr/local/include/Eigen and CMake should be able to find the libraries. Of course, double-check that those libraries really do exist in that path.

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