That could be an issue with how Fast-RTPS is being linked. It sounds like it isn't using RPATH and it should be.
Even without RPATH it should work if `~/ros2-osx/lib` is in your `DYLD_LIBRARY_PATH` environment variable after you source `~/ros2-osx/setup.bash` (this is the right one to source in most cases). If it is in the variable, then you may have SIP enabled which is a security feature in macOS that prevents propagation of the `DYLD_LIBRARY_PATH` to "system" binaries, like bash and make, which reside in `/usr/bin` and similar PATH folders.
If it is SIP then you can disable it (not recommended for security, but will work around the issue):
-
https://support.apple.com/en-us/HT204899
-
http://osxdaily.com/2015/10/05/disable-rootless-system-integrity-protection-mac-os-x/
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