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My roslib compile works out-of-the-box (diamondback, 10.6, 64-bit). These lines look very suspicious:

/usr/include/AvailabilityMacros.h:108:14: warning: #warning Building for Intel with Mac OS X Deployment Target < 10.4 is invalid.
Linking CXX shared library ../lib/libroslib.dylib
ld: -rpath can only be used when targeting Mac OS X 10.5 or later

Building for Intel for Mac OS X < 10.4? It looks like your build environment is screwed up. Maybe you have MACOSX_DEPLOYMENT_TARGET set in your environment?

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