diff --git a/moveit_core/online_signal_smoothing/CMakeLists.txt b/moveit_core/online_signal_smoothing/CMakeLists.txt
index 9741899a80..3a3e5b8536 100644
--- a/moveit_core/online_signal_smoothing/CMakeLists.txt
+++ b/moveit_core/online_signal_smoothing/CMakeLists.txt
@@ -15,7 +15,7 @@ set_target_properties(moveit_smoothing_base PROPERTIES VERSION
 )
 ament_target_dependencies(moveit_smoothing_base
   rclcpp
-  tf2_eigen
+  Eigen3
 )
 
 # Plugin implementations
diff --git a/moveit_ros/moveit_servo/CMakeLists.txt b/moveit_ros/moveit_servo/CMakeLists.txt
index 6adca0a66d..e95461540e 100644
--- a/moveit_ros/moveit_servo/CMakeLists.txt
+++ b/moveit_ros/moveit_servo/CMakeLists.txt
@@ -18,12 +18,11 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   sensor_msgs
   std_msgs
   std_srvs
+  tf2_eigen
   trajectory_msgs
 )
 
 find_package(ament_cmake REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
-find_package(Eigen3 REQUIRED)
 find_package(generate_parameter_library REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
@@ -31,8 +30,6 @@ endforeach()
 
 include_directories(
   include
-SYSTEM
-  ${EIGEN3_INCLUDE_DIRS}
 )
 
 ###################
@@ -54,7 +51,7 @@ add_library(moveit_servo_lib_cpp SHARED
 
 )
 set_target_properties(moveit_servo_lib_cpp PROPERTIES VERSION "${moveit_servo_VERSION}")
-target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters ${Eigen_LIBRARIES})
+target_link_libraries(moveit_servo_lib_cpp moveit_servo_lib_parameters)
 ament_target_dependencies(moveit_servo_lib_cpp ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
 add_library(moveit_servo_lib_ros SHARED src/servo_node.cpp)
diff --git a/moveit_ros/moveit_servo/package.xml b/moveit_ros/moveit_servo/package.xml
index 8e31d8b732..2a96034fba 100644
--- a/moveit_ros/moveit_servo/package.xml
+++ b/moveit_ros/moveit_servo/package.xml
@@ -26,14 +26,15 @@
   <depend>control_msgs</depend>
   <depend>generate_parameter_library</depend>
   <depend>geometry_msgs</depend>
-  <depend>moveit_msgs</depend>
   <depend>moveit_core</depend>
+  <depend>moveit_msgs</depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>pluginlib</depend>
   <depend>realtime_tools</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
+  <depend>tf2_eigen</depend>
   <depend>trajectory_msgs</depend>
 
   <exec_depend>controller_manager</exec_depend>
@@ -41,9 +42,10 @@
   <exec_depend>joint_state_broadcaster</exec_depend>
   <exec_depend>joint_trajectory_controller</exec_depend>
   <exec_depend>joy</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>launch_param_builder</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>