diff --git a/ubuntu/debian/control b/ubuntu/debian/control
index 24c3185..a67f637 100644
--- a/ubuntu/debian/control
+++ b/ubuntu/debian/control
@@ -14,6 +14,7 @@ Build-Depends: cmake,
                libignition-common4-events-dev,
                libignition-common4-graphics-dev,
                libignition-math6-dev (>= 6.6.0),
+               libignition-math6-eigen3-dev (>= 6.6.0),
                libignition-plugin-dev,
                libogre-1.9-dev,
                libogre-2.2-dev
@@ -46,6 +47,7 @@ Depends: libignition-cmake2-dev (>= 2.3.0),
          libignition-common4-events-dev,
          libignition-common4-graphics-dev,
          libignition-math6-dev (>= 6.6.0),
+         libignition-math6-eigen3-dev (>= 6.6.0),
          libignition-rendering6 (= ${binary:Version}),
          ${misc:Depends}
 Multi-Arch: same
@@ -62,6 +64,7 @@ Depends: libignition-cmake2-dev (>= 2.3.0),
          libignition-common4-events-dev,
          libignition-common4-graphics-dev,
          libignition-math6-dev (>= 6.6.0),
+         libignition-math6-eigen3-dev (>= 6.6.0),
          libogre-1.9-dev,
          libignition-rendering6-core-dev,
          libignition-rendering6-ogre1 (= ${binary:Version}),
@@ -91,6 +94,7 @@ Depends: libignition-cmake2-dev (>= 2.3.0),
          libignition-common4-events-dev,
          libignition-common4-graphics-dev,
          libignition-math6-dev (>= 6.6.0),
+         libignition-math6-eigen3-dev (>= 6.6.0),
          libogre-2.2-dev,
          libignition-rendering6-core-dev,
          libignition-rendering6-ogre2 (= ${binary:Version}),