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I encountered this error and was able to make the build succeed by replacing -ltinyxml with /usr/local/lib/libtinyxml.dylib in various link.txt files within ros_catkin_ws/build_isolated/. I don't know why the linker had trouble finding that library in such a standard location.

grep -rl ' -ltinyxml' ./build_isolated | xargs sed -i.bak 's|-ltinyxml|/usr/local/lib/libtinyxml.dylib|g'

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