$ brew update
$ brew install cmake
$ brew tap ros/deps
$ brew tap osrf/simulation # Gazebo, sdformat, and ogre
$ brew tap homebrew/versions # VTK5
$ brew tap homebrew/science # others
$ mkdir -p ~/Library/Python/2.7/lib/python/site-packages
$ echo '$(brew --prefix)/lib/python2.7/site-packages' >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
$ brew unlink python
$ sudo easy_install pip
$ sudo -H python -m pip install -U pip # Update pip
$ sudo -H python -m pip install -U wstool rosdep rosinstall rosinstall_generator rospkg catkin-pkg Distribute sphinx
$ sudo -H rosdep init
$ rosdep update
$ mkdir ~/ros_catkin_ws
$ cd ~/ros_catkin_ws
$ rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall
$ wstool init -j8 src kinetic-ros_comm-wet.rosinstall
$ rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
$ ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
$ cd ros_catkin_ws/install_isolated/lib #navigate to the dir containing all the libs
$ for n in *.dylib; do ln -s $PWD/$n /usr/local/lib/$n; done
$ source ~/ros_catkin_ws/install_isolated/setup.bash
$ export ROS_HOSTNAME='localhost'
$roscore