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So, this is a bit tricky, because EmPy is what the name of library is in pip, but when you use it in python you have to import em. This makes trouble when defining it as a dependency in Homebrew.

There is a way around this, but it hasn't found its way into the repo yet. One way around it is to edit /usr/local/Library/Taps/ros-fuerte/catkin.rb and comment out the line depends_on 'EmPy' => :python. Then catkin should install. You are likely to run into more problems though, as this is still sort of experimental.

Sorry I don't have a better answer, all I can say is that we are working on it as we find time. If you are looking to get work done, I recommend Electric for the time being. If you are just interested in Fuerte then we always appreciate some help.