diff --git a/eigenpyConfig.cmake b/eigenpyConfig.cmake
index 468431b5b8e5bcffb5758f871b0664f34772336a..d39ef7d88eb67f8fe91df06cc4b2cff4b79413ac 100644
--- a/eigenpyConfig.cmake
+++ b/eigenpyConfig.cmake
@@ -2,5 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
 
 message(STATUS "Loading eigenpy from PkgConfig")
 
-find_package(PkgConfig)
+find_package(PkgConfig REQUIRED)
 pkg_check_modules(eigenpy REQUIRED eigenpy)
+
+# find absolute library paths for all eigenpy_LIBRARIES
+set(libs ${eigenpy_LIBRARIES})
+set(eigenpy_LIBRARIES "")
+foreach(lib ${libs})
+  find_library(abs_lib_${lib} ${lib} HINTS ${eigenpy_LIBRARY_DIRS})
+  list(APPEND eigenpy_LIBRARIES "${abs_lib_${lib}}")
+endforeach()