https://fitsir.me/2017/02/14/build-ros-kinetic-on-osx/

Prepare the enviroment
brew update
brew install cmake
brew tap ros/deps
brew tap osrf/simulation         # Gazebo, sdformat, and ogre
brew tap homebrew/versions # VTK5
brew tap homebrew/science  # others
brew install caskroom/cask/brew-cask
brew cask install xquartz

Setup Python and it’s paths
mkdir -p ~/Library/Python/2.7/lib/python/site-packages
echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
brew install libyaml 
pip install -U setuptools rosdep rosinstall_generator wstool rosinstall catkin_tools bloom empy sphinx pycurl

Initialize rosdep
sudo rosdep init
sudo sh -c "echo 'yaml https://raw.githubusercontent.com/mikepurvis/ros-install-osx/master/rosdeps.yaml osx' > /etc/ros/rosdep/sources.list.d/10-ros-install-osx.list"
rosdep update

Prepare installation
mkdir -p kinetic_desktop_full_ws/src
cd kinetic_desktop_full_ws
rosinstall_generator desktop_full --rosdistro kinetic --deps --tar > kinetic_desktop_full.rosinstall
wstool init -j8 src kinetic_desktop_full.rosinstall

wstool update -j 8 -t src

Add MoveIt!
rosinstall_generator moveit --rosdistro kinetic --deps --tar > moveit.rosinstall
wstool merge -t src moveit.rosinstall
wstool update -t src

Fix Orge models
cd src/rviz/ogre_media/models
curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cone.mesh > rviz_cone.mesh
curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cube.mesh > rviz_cube.mesh
curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_cylinder.mesh > rviz_cylinder.mesh
curl https://raw.githubusercontent.com/ros-visualization/rviz/hydro-devel/ogre_media/models/rviz_sphere.mesh > rviz_sphere.mesh
cd -
cd  src/catkin/cmake
curl https://raw.githubusercontent.com/ros/catkin/8a47f4eceb4954beb4a5b38b50793d0bbe2c96cf/cmake/catkinConfig.cmake.in > catkinConfig.cmake.in
cd -

Install gmock a gtest by script

Install Dart
brew tap dartsim/dart
brew install dartsim/dart/fcl03

Overwrite gmock and gtest links
brew link --overwrite yaml-cpp

Install Gazebo
brew install gazebo

Install dependencies
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y --as-root pip:no --skip-keys "google-mock libfcl-dev python-qt-bindings-qwt5 python gazebo gtest pyassimp" --skip-keys=pyassimp -r

Errors
- pyassimp

Create install directory
sudo mkdir -p /opt/ros/kinetic
sudo chown $USER /opt/ros/kinetic

Build
catkin config --install  --install-space /opt/ros/kinetic --cmake-args \
    -DCMAKE_FIND_FRAMEWORK=LAST \
    -DCATKIN_ENABLE_TESTING=1 \
    -DCMAKE_BUILD_TYPE=Release \
    -DPYTHON_LIBRARY=$(python -c "import sys; print sys.prefix")/lib/libpython2.7.dylib \
    -DPYTHON_INCLUDE_DIR=$(python -c "import sys; print sys.prefix")/include/python2.7  \
    -DPYTHON3_LIBRARY=$(python3 -c "import sys; print (sys.prefix)")/lib/libpython3.6.dylib \
    -DPYTHON3_INCLUDE_DIR=$(python3 -c "import sys; print (sys.prefix)")/include/python3.6m \
    -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -DQT_MAC_USE_COCOA"