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This is a different solution than the one from tlinder, although it is related.

The migration web page mentions that if your package exports headers that use Eigen, you must export the Eigen flag. This is currently not done by package laser_geometry. I tried it on my set-up, i.e. I changed

<export>
<cpp cflags="-I${prefix}/include" 
     lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -llaser_geometry"/>
</export>

to

<export>
<cpp cflags="`pkg-config --cflags eigen3` -I${prefix}/include" 
     lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -llaser_geometry"/>
</export>

and it solved the problem. If I'm not mistaken, it was just forgotten in laser_geometry. I filed a ticket for it: https://code.ros.org/trac/ros-pkg/ticket/5566.