diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2b042ff..d7b707e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,31 +25,7 @@ endif()
 # First we look for the Eigen3 cmake module
 # provided by the libeigen3-dev on newer Ubuntu. If that fails, then we
 # fall-back to the version provided in the cmake/modules.
-find_package(Eigen3 QUIET)
-
-if(NOT EIGEN3_FOUND)
-  list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules)
-  find_package(Eigen3 REQUIRED)
-endif()
-
-# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
-# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
-if(NOT EIGEN3_INCLUDE_DIRS)
-  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
-endif()
-
-# Necessary for Ubuntu 16.04's god-awful FindEigen3.cmake.
-if((NOT (DEFINED EIGEN3_VERSION)) AND (DEFINED EIGEN3_VERSION_STRING))
-  set(EIGEN3_VERSION ${EIGEN3_VERSION_STRING})
-endif()
-
-if(${EIGEN3_VERSION} VERSION_EQUAL "3.3.6")
-  message(WARNING "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIRS},"
-                  "but this version has a [bug](http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1643)")
-elseif(${EIGEN3_VERSION} VERSION_LESS "3.3.8")
-  message(WARNING "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIRS}. "
-                  "Beware that the move semantic has a bug and resolves to a simple copy.")
-endif()
+find_package(Eigen3 3.3.8...5 CONFIG REQUIRED)
 
 # Options. Turn on with 'cmake -DBUILD_TESTING=ON'.
 # catkin build manif --cmake-args -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
@@ -103,12 +79,8 @@ target_include_directories(${PROJECT_NAME} INTERFACE
 target_link_libraries(${PROJECT_NAME} INTERFACE "$<$<BOOL:${tl-optional_FOUND}>:tl::optional>")
 
 # Add Eigen interface dependency, depending on available cmake info
-if(TARGET Eigen3::Eigen)
-  target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen)
-  set(Eigen3_DEPENDENCY "find_dependency(Eigen3 ${Eigen3_VERSION})")
-else(TARGET Eigen3::Eigen)
-  target_include_directories(${PROJECT_NAME} SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIRS})
-endif(TARGET Eigen3::Eigen)
+target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen)
+set(Eigen3_DEPENDENCY "find_dependency(Eigen3 ${Eigen3_VERSION})")
 
 # Add tl-optional interface dependency if enabled
 if(tl-optional_FOUND)