Eigen3 CMake error on Jenkins builds

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Hello,

I have built a package, freefloating_gazebo, that is now being compiled regularly on Jenkins. I have a constant error in CMake :

CMake Warning at CMakeLists.txt:13 (find_package):
  By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Eigen3", but
  CMake did not find one.

  Could not find a package configuration file provided by "Eigen3" with any
  of the following names:

    Eigen3Config.cmake
    eigen3-config.cmake

  Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
  "Eigen3_DIR" to a directory containing one of the above files.  If "Eigen3"
  provides a separate development package or SDK, be sure it has been
  installed.

So I understand that Eigen3 is not installed in the Jenkins machine. Maybe the compilation is not correctly configured, but I cannot find where I should do any changes.

Can I write in my package that I have a dependency on Eigen3, so that it can be installed automatically, or should I do it manually?

Thanks.