diff --git a/recipes-ros/geometry/files/0001-find-Eigen-with-cmake_modules-Find-script-partly-rev.patch b/recipes-ros/geometry/files/0001-find-Eigen-with-cmake_modules-Find-script-partly-rev.patch
deleted file mode 100644
index c823d6b..0000000
--- a/recipes-ros/geometry/files/0001-find-Eigen-with-cmake_modules-Find-script-partly-rev.patch
+++ /dev/null
@@ -1,64 +0,0 @@
-From fc3670a9a37c806458fba9ef6332a63ea8f31951 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
-Date: Mon, 14 Aug 2017 18:00:37 +0200
-Subject: [PATCH] find Eigen with cmake_modules' Find script (partly reverts
- 707eb4119d)
-
-Upstream-Status: Inappropriate [openembedded-specific adjustment]
----
- eigen_conversions/CMakeLists.txt | 6 +++---
- tf_conversions/CMakeLists.txt    | 6 +++---
- 2 files changed, 6 insertions(+), 6 deletions(-)
-
-diff --git a/eigen_conversions/CMakeLists.txt b/eigen_conversions/CMakeLists.txt
-index 5277aea..f056048 100644
---- a/eigen_conversions/CMakeLists.txt
-+++ b/eigen_conversions/CMakeLists.txt
-@@ -3,15 +3,15 @@ project(eigen_conversions)
- 
- find_package(orocos_kdl REQUIRED)
- find_package(catkin REQUIRED cmake_modules geometry_msgs std_msgs)
--find_package(Eigen3 REQUIRED)
-+find_package(Eigen REQUIRED)
- 
--include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})
-+include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
- include_directories(include ${catkin_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS})
- link_directories(${catkin_LIBRARY_DIRS})
- link_directories(${orocos_kdl_LIBRARY_DIRS})
- 
- catkin_package(
--  INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS}
-+  INCLUDE_DIRS include ${EIGEN_INCLUDE_DIRS}
-   LIBRARIES ${PROJECT_NAME}
-   CATKIN_DEPENDS geometry_msgs std_msgs
-   DEPENDS orocos_kdl
-diff --git a/tf_conversions/CMakeLists.txt b/tf_conversions/CMakeLists.txt
-index 543bbdb..5797b2f 100644
---- a/tf_conversions/CMakeLists.txt
-+++ b/tf_conversions/CMakeLists.txt
-@@ -3,18 +3,18 @@ project(tf_conversions)
- 
- find_package(orocos_kdl REQUIRED)
- find_package(catkin REQUIRED cmake_modules geometry_msgs kdl_conversions tf)
--find_package(Eigen3 REQUIRED)
-+find_package(Eigen REQUIRED)
- 
- catkin_python_setup()
- 
- catkin_package(
-   INCLUDE_DIRS include
-   LIBRARIES ${PROJECT_NAME}
--  DEPENDS EIGEN3 orocos_kdl
-+  DEPENDS EIGEN orocos_kdl
-   CATKIN_DEPENDS geometry_msgs kdl_conversions tf
- )
- 
--include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS})
-+include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS})
- 
- # Needed due to no full filename in orocos_kdl pkg-config export
- link_directories(${orocos_kdl_LIBRARY_DIRS})
--- 
-1.9.1
-
diff --git a/recipes-ros/geometry/geometry.inc b/recipes-ros/geometry/geometry.inc
index a6c644c..d579672 100644
--- a/recipes-ros/geometry/geometry.inc
+++ b/recipes-ros/geometry/geometry.inc
@@ -2,8 +2,6 @@ SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilena
 SRC_URI[md5sum] = "5d55aa4d8b5fea53e0fc72605843b4d0"
 SRC_URI[sha256sum] = "8c8e20d28d352b3ccb227ca7da39a1dddc051cf8309f90a46d6b0c7b2e398d33"
 
-SRC_URI += "file://0001-find-Eigen-with-cmake_modules-Find-script-partly-rev.patch;patchdir=.."
-
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
diff --git a/recipes-ros/image-pipeline/depth-image-proc/0001-find-Eigen3-with-ROS-cmake_modules-script.patch b/recipes-ros/image-pipeline/depth-image-proc/0001-find-Eigen3-with-ROS-cmake_modules-script.patch
deleted file mode 100644
index cbd56a3..0000000
--- a/recipes-ros/image-pipeline/depth-image-proc/0001-find-Eigen3-with-ROS-cmake_modules-script.patch
+++ /dev/null
@@ -1,33 +0,0 @@
-From 579993db0e7ef1f6820b39f4e7598324c0bde097 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
-Date: Tue, 2 May 2017 08:15:28 +0200
-Subject: [PATCH] find Eigen3 with ROS cmake_modules script
-
-Upstream-Status: Pending
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
----
- depth_image_proc/CMakeLists.txt | 7 ++-----
- 1 file changed, 2 insertions(+), 5 deletions(-)
-
-diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
-index 060d295..dbe26a5 100644
---- a/depth_image_proc/CMakeLists.txt
-+++ b/depth_image_proc/CMakeLists.txt
-@@ -8,11 +8,8 @@ catkin_package(
-     LIBRARIES ${PROJECT_NAME})
- 
- find_package(Boost REQUIRED)
--find_package(Eigen3 QUIET)
--if(NOT EIGEN3_FOUND)
--  find_package(Eigen REQUIRED)
--  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
--endif()
-+find_package(Eigen REQUIRED)
-+set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
- find_package(OpenCV REQUIRED)
- include_directories(include ${BOOST_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
- 
--- 
-1.9.1
-
diff --git a/recipes-ros/image-pipeline/depth-image-proc_1.12.23.bb b/recipes-ros/image-pipeline/depth-image-proc_1.12.23.bb
index 7f300d6..542db46 100644
--- a/recipes-ros/image-pipeline/depth-image-proc_1.12.23.bb
+++ b/recipes-ros/image-pipeline/depth-image-proc_1.12.23.bb
@@ -6,5 +6,3 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 DEPENDS = "boost cv-bridge eigen-conversions image-geometry image-transport message-filters nodelet sensor-msgs stereo-msgs tf2 tf2-ros"
 
 require image-pipeline.inc
-
-SRC_URI += "file://0001-find-Eigen3-with-ROS-cmake_modules-script.patch;striplevel=2"