diff --git a/test_tf2/CMakeLists.txt b/test_tf2/CMakeLists.txt
index 7208c7ac2..a05818f39 100644
--- a/test_tf2/CMakeLists.txt
+++ b/test_tf2/CMakeLists.txt
@@ -20,7 +20,11 @@ endif()
 
 find_package(ament_cmake_gtest REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(Eigen3 REQUIRED)
+# Work around broken find module in AlmaLinux/RHEL eigen3-devel from PowerTools repo
+find_package(Eigen3 QUIET NO_MODULE)
+if(NOT Eigen3_FOUND)
+  find_package(Eigen3 REQUIRED)
+endif()
 find_package(geometry_msgs REQUIRED)
 find_package(launch_testing_ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
diff --git a/tf2_eigen_kdl/CMakeLists.txt b/tf2_eigen_kdl/CMakeLists.txt
index a40d6d04a..743e2a298 100644
--- a/tf2_eigen_kdl/CMakeLists.txt
+++ b/tf2_eigen_kdl/CMakeLists.txt
@@ -10,7 +10,11 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(Eigen3 REQUIRED)
+# Work around broken find module in AlmaLinux/RHEL eigen3-devel from PowerTools repo
+find_package(Eigen3 QUIET NO_MODULE)
+if(NOT Eigen3_FOUND)
+  find_package(Eigen3 REQUIRED)
+endif()
 find_package(orocos_kdl REQUIRED)
 find_package(tf2 REQUIRED)