ROS找不到eigen库：Project ‘eigen_conversions‘ specifies ‘/usr/include/eigen3‘ as an include dir, which

 编译时报错

CMake Error at /opt/ros/noetic/share/eigen_conversions/cmake/eigen_conversionsConfig.cmake:113 (message):
  Project 'eigen_conversions' specifies '/usr/include/eigen3' as an include
  dir, which is not found.  It does neither exist as an absolute directory
  nor in '${{prefix}}//usr/include/eigen3'.  Check the website
  'http://ros.org/wiki/eigen_conversions' for information and consider
  reporting the problem.
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
  IMU-Wheel-Odom/CMakeLists.txt:10 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/river/work/frame_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/river/work/frame_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

看报错提示问题出在

/opt/ros/noetic/share/eigen_conversions/cmake/eigen_conversionsConfig.cmake

里面标明的eigen3的路径是/usr/include/eigen3，但是我们的eigen路径是/usr/local/include/eigen3，所以将cmake文件中的/usr/include/eigen3替换成/usr/local/include/eigen3即可

终端输入

sudo gedit /opt/ros/noetic/share/eigen_conversions/cmake/eigen_conversionsConfig.cmake 

在打开的文件中将/usr/include/eigen3替换成/usr/local/include/eigen3