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So I have had frequent issues with transitive dependencies of shared libraries on OS X. This looks like you need to link against Boost.System (i.e. something is not properly desclaring a dependency on it). In https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/blob/hydro-devel/hector_quadrotor_model/CMakeLists.txt try something like:

find_package(Boost COMPONENTS system)

...

target_link_libraries(hector_quadrotor_aerodynamics ${Boost_LIBRARIES})

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