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I am not much familiar with eigen errors. Maybe the dependency should be to Eigen3 instead of Eigen since you have installed eigen3.

find_package(Eigen3 REQUIRED)

On another note, dont forget to include the eigen directories:

include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})

and link your target with the eigen libraries:

target_link_libraries(your_target ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})

Also since you are generating a custom msg add the message_runtime as dependency:

catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES event_formation
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
  DEPENDS system_lib
  DEPENDS Eigen3
)