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You are adding yaml-cpp as a target, but the -L location of it is not on your path:

/usr/local/Cellar/yaml-cpp/0.5.0/lib

This means you need to use find_package or pkg-config in CMake to find this path at build time and add it your linker path using link_directories()

Also, you might want to use yaml-cpp version 0.3, because that is what ROS is using. See:

https://github.com/ros/homebrew-groovy/blob/master/yaml-cpp-0.3.rb