Ref: here

$ 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

$ export PATH=/usr/local/bin:$PATH
$ source ~/.bashrc # or you use zshrc
$ 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
$ pip --version
$ sudo easy_install pip==1.2.1 # if the version is greater than 1.2.1, please downgrade
$ sudo -H pip install -U setuptools
$ sudo -H pip install -U wstool rosdep rosinstall rosinstall_generator rospkg catkin-pkg Distribute sphinx
$ sudo rosdep init
$ rosdep update

$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws
$ rosinstall_generator desktop_full --rosdistro indigo --deps --wet-only --tar > indigo-desktop-full-wet.rosinstall

# YOU MAY ENCOUNTER PROBLEM (1) HERE

$ wstool init -j8 src indigo-desktop-full-wet.rosinstall
$ rosdep install --from-paths src --ignore-src --rosdistro indigo -y

# YOU MAY ENCOUNTER PROBLEM (2) HERE, AFTER IT GOT FIXED, RE-RUN ABOVE COMMAND
# YOU MAY ENCOUNTER PROBLEM (3) HERE, AFTER IT GOT FIXED, RE-RUN ABOVE COMMAND

# REMARKS: make bootstrap part is EXTREMELY SLOW !

Problems you may encounter

no module named rosdistro

Solution is to remove and reinstall this package

$ pip uninstall rosdistro
$ pip install rosdistro

Error: log4cxx 0.10.0 did not build

Refer to here and follow the steps using brew edit log4cxx. Run again manually as follows.

$ brew install log4cxx

pip: command [sudo -H pip install -U mock] failed

Upgrade your pip using following commands. This is a conflict to the step sudo easy_install pip==1.2.1 we went through before.

$ sudo pip install --upgrade pip
$ sudo pip install setuptools --no-binary :all: --upgrade