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So I did some tests:

  • bash-3.2.48 with no bash-completion
    • source setup.bash works
    • catkin_make -<tab><tab> gives bash: _init_completion: command not found
  • bash-3.2.48 with bash-completion (from homebrew)
    • source setup.bash works
    • . $(brew --prefix)/etc/bash_completion works
    • catkin_make -<tab><tab> gives bash: _init_completion: command not found
  • bash-3.2.48 with bash-completion2 (from homebrew/versions tap)
    • source setup.bash works
    • . $(brew --prefix)/share/bash-completion/bash_completion fails
  • bash-4.2.45 (from homebrew) with no bash-completion
    • source setup.bash works
    • catkin_make -<tab><tab> gives bash: _init_completion: command not found
  • bash-4.2.45 (from homebrew) with bash-completion (from homebrew)
    • source setup.bash works
    • . $(brew --prefix)/etc/bash_completion works
    • catkin_make -<tab><tab> gives bash: _init_completion: command not found
  • bash-4.2.45 (from homebrew) with bash-completion2 (from homebrew/versions tap)
    • source setup.bash works
    • . $(brew --prefix)/share/bash-completion/bash_completion works
    • catkin_make -<tab><tab> gives completions!

So to summarize, I never get your original error, but I don't get completions until I have bash-4.2.45 and bash-completion2 from the homebrew/versions tap.