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I my case, set environment variables CC and CXX only does not help. So use

-DCMAKE_C_COMPILER=/usr/bin/clang -DCMAKE_CXX_COMPILER=/usr/bin/clang++

to specify c and cxx compiler for catkin_make will solve this problem.

And for orocos_kdl building error, I followed

http://answers.ros.org/question/152766/installing-hydro-on-os-x-108-error-compiling-orocos_kdl/

that git clone the latest version. It works.

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