diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92660c6..a9e53ff 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,15 @@ catkin_package(
 ## Build ##
 ###########
 
+# On ARM, the use of Eigen 3.4 with g++11 (both the versions in Jammy) causes a warning, which in turn causes
+# the build to fail. Details are here: https://gitlab.com/libeigen/eigen/-/issues/2326. We can suppress the warning
+# for ARM builds here.
+if(Eigen3_VERSION VERSION_EQUAL 3.4 AND
+   CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 11.0 AND
+   CMAKE_LIBRARY_ARCHITECTURE STREQUAL "aarch64-linux-gnu")
+    add_compile_options(-Wno-class-memaccess)
+endif()
+
 # Header-only package. Nothing to build.
 
 #############