diff --git a/stepback_and_steerturn_recovery/CMakeLists.txt b/stepback_and_steerturn_recovery/CMakeLists.txt
index d049feef5fa2e2b0eb2343ca1e54a4712f91942e..8a81797eb00b3ed03c80bf9d16719a7eed126e70 100644
--- a/stepback_and_steerturn_recovery/CMakeLists.txt
+++ b/stepback_and_steerturn_recovery/CMakeLists.txt
@@ -3,7 +3,6 @@ project(stepback_and_steerturn_recovery)
 
 find_package(catkin REQUIRED
         COMPONENTS
-            cmake_modules
             roscpp
             tf2_ros
             costmap_2d
@@ -13,11 +12,11 @@ find_package(catkin REQUIRED
 	    geometry_msgs
         )
 
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 include_directories(
     include
     ${catkin_INCLUDE_DIRS}
-    ${EIGEN_INCLUDE_DIRS}
+    ${EIGEN3_INCLUDE_DIRS}
 )
 add_definitions(${EIGEN_DEFINITIONS})