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I had this error because I had a newer version of cmake installed. libeigen3-dev had installed FindEigen3.cmake in usr/share/cmake-2.8/Modules (the default Ubuntu 14.04 cmake) but not the other cmake versions. Since catkin_make defaults to latest cmake, it can't find the module. In my case, simply copying FindEigen3.cmake into usr/share/cmake-3.2/Modules fixed the issue.