diff --git a/cartographer_ros/CMakeLists.txt b/cartographer_ros/CMakeLists.txt
index a379726..acd4e2c 100644
--- a/cartographer_ros/CMakeLists.txt
+++ b/cartographer_ros/CMakeLists.txt
@@ -18,7 +18,6 @@ project(cartographer_ros)
 
 set(PACKAGE_DEPENDENCIES
   cartographer_ros_msgs
-  eigen_conversions
   geometry_msgs
   message_runtime
   nav_msgs
diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml
index 6902669..f1f1c95 100644
--- a/cartographer_ros/package.xml
+++ b/cartographer_ros/package.xml
@@ -43,7 +43,6 @@
 
   <depend version_gte="1.0.0">cartographer</depend>
   <depend version_gte="1.0.0">cartographer_ros_msgs</depend>
-  <depend>eigen_conversions</depend>
   <depend>geometry_msgs</depend>
   <depend>libgflags-dev</depend>
   <depend>libgoogle-glog-dev</depend>
diff --git a/cartographer_rviz/CMakeLists.txt b/cartographer_rviz/CMakeLists.txt
index c19c986..bb981ae 100644
--- a/cartographer_rviz/CMakeLists.txt
+++ b/cartographer_rviz/CMakeLists.txt
@@ -19,7 +19,6 @@ project(cartographer_rviz)
 set(PACKAGE_DEPENDENCIES
   cartographer_ros
   cartographer_ros_msgs
-  eigen_conversions
   message_runtime
   roscpp
   roslib
diff --git a/cartographer_rviz/cartographer_rviz/drawable_submap.cc b/cartographer_rviz/cartographer_rviz/drawable_submap.cc
index 2432ac2..d2c800f 100644
--- a/cartographer_rviz/cartographer_rviz/drawable_submap.cc
+++ b/cartographer_rviz/cartographer_rviz/drawable_submap.cc
@@ -27,7 +27,6 @@
 #include "cartographer/common/port.h"
 #include "cartographer_ros/msg_conversion.h"
 #include "cartographer_ros_msgs/SubmapQuery.h"
-#include "eigen_conversions/eigen_msg.h"
 #include "ros/ros.h"
 
 namespace cartographer_rviz {
diff --git a/cartographer_rviz/package.xml b/cartographer_rviz/package.xml
index 9b8bdcc..28fd224 100644
--- a/cartographer_rviz/package.xml
+++ b/cartographer_rviz/package.xml
@@ -41,7 +41,6 @@
   <depend version_gte="1.0.0">cartographer</depend>
   <depend version_gte="1.0.0">cartographer_ros</depend>
   <depend version_gte="1.0.0">cartographer_ros_msgs</depend>
-  <depend>eigen_conversions</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>