diff --git a/homer_map_manager/CMakeLists.txt b/homer_map_manager/CMakeLists.txt
index ce519e8fbfeeab7b3b28762b32c0a102624597fc..4fe8d9298abb2d586704698aff9ee417e932e0e5 100644
--- a/homer_map_manager/CMakeLists.txt
+++ b/homer_map_manager/CMakeLists.txt
@@ -5,6 +5,11 @@ find_package(catkin REQUIRED COMPONENTS roscpp roslib tf homer_mapnav_msgs homer
 
 find_package( Eigen3 REQUIRED )
 
+# eigen 3.2 (wily) only provdies EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS
+if(NOT EIGEN3_INCLUDE_DIRS)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
 set(CMAKE_BUILD_TYPE Release)
 
 find_package(OpenMP)
diff --git a/homer_mapping/CMakeLists.txt b/homer_mapping/CMakeLists.txt
index d23e0e2ffb013add3fb6f196dbfa38f88e6a6627..032278c56821773868756640918004b8cc9da3f7 100644
--- a/homer_mapping/CMakeLists.txt
+++ b/homer_mapping/CMakeLists.txt
@@ -19,6 +19,11 @@ endif()
 find_package(tf REQUIRED)
 find_package(Eigen3 REQUIRED)
 
+# eigen 3.2 (wily) only provdies EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS
+if(NOT EIGEN3_INCLUDE_DIRS)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
 #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
 find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
 
diff --git a/homer_nav_libs/CMakeLists.txt b/homer_nav_libs/CMakeLists.txt
index f572e1692ec22285570093d073a07cd348b0aee6..0b2ae0ab262d26a61f49e6f288a826aedbfb8574 100644
--- a/homer_nav_libs/CMakeLists.txt
+++ b/homer_nav_libs/CMakeLists.txt
@@ -14,6 +14,11 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(Eigen3 REQUIRED)
 
+# eigen 3.2 (wily) only provdies EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS
+if(NOT EIGEN3_INCLUDE_DIRS)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
 catkin_package(
 	INCLUDE_DIRS include
 	LIBRARIES homerExplorer homerMappingMath
diff --git a/homer_navigation/CMakeLists.txt b/homer_navigation/CMakeLists.txt
index f28538650667392fd8f95ea92457acb49e8fc581..1adc03d19d3d173a44ed8eb1d4ed48a58bcd9ebd 100644
--- a/homer_navigation/CMakeLists.txt
+++ b/homer_navigation/CMakeLists.txt
@@ -17,6 +17,11 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(Eigen3 REQUIRED)
 
+# eigen 3.2 (wily) only provdies EIGEN3_INCLUDE_DIR, not EIGEN3_INCLUDE_DIRS
+if(NOT EIGEN3_INCLUDE_DIRS)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
+
 set(CMAKE_BUILD_TYPE Release)
 
 catkin_package(