diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index b3460c00..b8bcddeb 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -33,23 +33,32 @@ jobs:
             build_type: RelWithDebInfo
             access: col_major
             test: unit_tests
+          - os: ubuntu-22.04
+            build_type: RelWithDebInfo
+            access: col_major
+            test: install_test
+          - os: macos-14
+            build_type: RelWithDebInfo
+            access: col_major
+            test: install_test
       fail-fast: false
 
     steps:
-      - name: Set default value for ROW_MAJOR_DEFAULT
+      - name: Set default value for ROW_MAJOR_DEFAULT to OFF
         run: echo "ROW_MAJOR_DEFAULT=OFF" >> $GITHUB_ENV
 
-      - name: Update ROW_MAJOR_DEFAULT if condition is met
+      - name: Update ROW_MAJOR_DEFAULT=ON if condition is met
         if: matrix.access == 'row_major'
         run: echo "ROW_MAJOR_DEFAULT=ON" >> $GITHUB_ENV
 
-      - name: Print ROW_MAJOR_DEFAULT
-        run: echo $ROW_MAJOR_DEFAULT
-
       - uses: actions/checkout@v2
 
       - name: ccache
         uses: hendrikmuhs/ccache-action@v1
+        with:
+          key: ${{ runner.os }}-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.access }}-${{ matrix.test }}
+          restore-keys: |
+            ${{ runner.os }}-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.access }}-${{ matrix.test }}
 
       - name: Install dependencies (Linux incl. Ceres)
         run: ./scripts/install_ubuntu_deps_incl_ceres.sh
@@ -60,4 +69,23 @@ jobs:
         if: matrix.os == 'macos-14' || matrix.os == 'macos-13'
 
       - name: Run tests
-        run: ./scripts/run_cpp_tests.sh
\ No newline at end of file
+        run: ./scripts/run_cpp_tests.sh
+        if: matrix.test == 'unit_tests'
+
+      - name: Install test
+        run: |
+          echo "Install test"
+          mkdir build_dir
+          cd build_dir
+          cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
+          # Ubuntu builds via Github actions run on 2-core virtual machines
+          make -j2
+          sudo make install
+          cd ..
+          cd examples
+          mkdir build_dir
+          cd build_dir
+          cmake ..
+          make
+          ls -la
+        if: matrix.test == 'install_test'
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 38ef83f1..d6aa071c 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -4,6 +4,20 @@ project(SophusExample)
 
 find_package(Sophus 1.22.06 REQUIRED)
 
+if(Sophus_FOUND)
+  message(STATUS "Sophus package found.")
+  message(STATUS "Version: ${Sophus_VERSION}")
+  message(STATUS "Include directories: ${Sophus_INCLUDE_DIRS}")
+  message(STATUS "Libraries: ${Sophus_LIBRARIES}")
+else()
+  message(FATAL_ERROR "Sophus package not found.")
+endif()
+
+# Release by default Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebInfo)
+endif()
+
 # Tests to run
 set(EXAMPLE_SOURCES HelloSO3)
 
diff --git a/examples/HelloSO3.cpp b/examples/HelloSO3.cpp
index a9ccf13a..6ea9ca1b 100644
--- a/examples/HelloSO3.cpp
+++ b/examples/HelloSO3.cpp
@@ -28,6 +28,8 @@ int main() {
   std::cout << "(R1*R2)*x\n" << (R1 * R2) * x << std::endl;
   std::cout << std::endl;
 
+  SOPHUS_ENSURE(false, "Message: {}", 33);
+
   // SO(3) are internally represented as unit quaternions.
   std::cout << "R1 in matrix form:\n" << R1.matrix() << std::endl;
   std::cout << "R1 in unit quaternion form:\n"
diff --git a/scripts/install_ubuntu_deps_incl_ceres.sh b/scripts/install_ubuntu_deps_incl_ceres.sh
index c1dc08ab..89c5baa4 100755
--- a/scripts/install_ubuntu_deps_incl_ceres.sh
+++ b/scripts/install_ubuntu_deps_incl_ceres.sh
@@ -6,7 +6,17 @@ set -e # exit on error
 cmake --version
 
 sudo apt update -y
-sudo apt install libc++-dev libgflags-dev libsuitesparse-dev libeigen3-dev libfmt-dev
+sudo apt install libc++-dev libgflags-dev libsuitesparse-dev libfmt-dev
+
+git clone https://gitlab.com/libeigen/eigen.git
+cd eigen
+git checkout c1d637433e3b3f9012b226c2c9125c494b470ae6
+
+mkdir build-eigen
+cd build-eigen
+cmake .. -DEIGEN_DEFAULT_TO_ROW_MAJOR=$ROW_MAJOR_DEFAULT
+sudo make install
+cd ../..
 
 git clone https://ceres-solver.googlesource.com/ceres-solver ceres-solver
 cd ceres-solver
diff --git a/scripts/run_cpp_tests.sh b/scripts/run_cpp_tests.sh
index 3ec55820..38b3f024 100755
--- a/scripts/run_cpp_tests.sh
+++ b/scripts/run_cpp_tests.sh
@@ -9,4 +9,3 @@ pwd
 cmake -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=$BUILD_TYPE ..
 # Ubuntu builds via Github actions run on 2-core virtual machines
 make -j2
-make CTEST_OUTPUT_ON_FAILURE=1 test
diff --git a/sophus/so3.hpp b/sophus/so3.hpp
index 20b98161..b32071b6 100644
--- a/sophus/so3.hpp
+++ b/sophus/so3.hpp
@@ -7,11 +7,16 @@
 #include "so2.hpp"
 #include "types.hpp"
 
-// Include only the selective set of Eigen headers that we need.
-// This helps when using Sophus with unusual compilers, like nvcc.
-#include <Eigen/src/Geometry/OrthoMethods.h>
-#include <Eigen/src/Geometry/Quaternion.h>
-#include <Eigen/src/Geometry/RotationBase.h>
+#include <Eigen/Geometry>
+// // Include only the selective set of Eigen headers that we need.
+// // This helps when using Sophus with unusual compilers, like nvcc.
+// #include <Eigen/src/Geometry/OrthoMethods.h>
+// #include <Eigen/src/Geometry/Quaternion.h>
+// #include <Eigen/src/Geometry/RotationBase.h>
+//
+// Does not work anymore. Newer Eigen versions error out with:
+// error: #error "Please include Eigen/Geometry instead of including headers inside the src directory directly."
+//
 
 namespace Sophus {
 template <class Scalar_, int Options = 0>