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The CMake error says that eigen3 is not being found in your system. The most likely explanation for this is that eigen simply isn't installed.

Fortunately raspbian does have a native eigen3 package which you can easily install with the command below (answer yes to any questions apt-get asks).

sudo apt-get install libeigen3-dev

However, the official ROS instructions for the raspberry pi do not list eigen as a dependency. It could be that there's an error in the documentation, but it could also be that you're not following them correctly :)