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The problem is likely that rgbd_launch is missing from your workspace. To understand why it failed like this, you have to understand the process through with rosdep goes when resolving dependencies:

• Is rgbd_launch a package on the ROS_PACKAGE_PATH?
  • If yes, consider it resolved
• Is rgbd_launch a system dependency (defined in the rosdep rules at https://github.com/ros/rosdistro)?
  • If yes, try to install it
• Otherwise it must be a ROS package which is not in the ROS_PACKAGE_PATH
  • Try to install that ROS package from the system's package manager.

On OS X, it tries to guess at the formula name, in this case ros/hydro/rgbd_launch, which fails because it doesn't have a homebrew formula. On Ubuntu, this would have done sudo apt-get install ros-hydro-rgbd-launch and it would have succeeded.

The solution to your problem is to add rgbd_launch to your workspace. I would recommend making a rosinstall file using the rosinstall_generator:

sudo pip install rosinstall-generator
source /path/to/hydro/install/setup.bash
rosinstall_generator openni_launch --rosdistro hydro --deps --exclude RPP > openni_launch.rosinstall

The resulting rosinstall file will include openni_launch, and any of its dependencies which are not in your RPP.

You can then get all of the repositories in this rosinstall file by using wstool:

wstool init src openni_launch.rosinstall