CMake Errors whilst building Catkin (Raspbian)

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Hey everyone

Really sorry if this is something silly or small I've gotten wrong, or if it's something that has been answered somewhere else on here. I am having issues getting through compiling on my raspberry pi. Below I have the last few lines that seem relevant before it stopped running. I also need to point out that I'm new to this. Am studying robotics at university and have followed the ROS Platform forever but only recently started trying to learn how to use it.

-- Using CATKIN_TEST_RESULTS_DIR: /home/pi/build_isolated/orocos_kdl/test_results
-- catkin 0.5.65
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.26")
-- checking for module 'eigen3'
--   package 'eigen3' not found
CMake Error at /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:97 

(MESSAGE):
  Could NOT find Eigen (missing: EIGEN_INCLUDE_DIR)
Call Stack (most recent call first):
  /usr/share/cmake-2.8/Modules/FindPackageHandleStandardArgs.cmake:288 
(_FPHSA_FAILURE_MESSAGE)
  /opt/ros/groovy/share/eigen/cmake/eigen-config.cmake:31 
(find_package_handle_standard_args)
  CMakeLists.txt:7 (find_package)

-- Configuring incomplete, errors occurred!
Traceback (most recent call last):
  File "./src/catkin/bin/../python/catkin/builder.py", line 658, in 
build_workspace_isolated
    number=index + 1, of=len(ordered_packages)
  File "./src/catkin/bin/../python/catkin/builder.py", line 443, in build_package
    install, jobs, force_cmake, quiet, last_env, cmake_args, make_args
  File "./src/catkin/bin/../python/catkin/builder.py", line 278, in 
build_catkin_package
    os.remove(makefile)
OSError: [Errno 2] No such file or directory: 
'/home/pi/build_isolated/orocos_kdl/Makefile'
<== Failed to process package 'orocos_kdl':
  [Errno 2] No such file or directory: '/home/pi/build_isolated/orocos_kdl/Makefile'
Command failed, exiting.

Again, really sorry if this is something silly or small I've gotten wrong. Thank you in advance for any help you can give!