Okay, so I got a little further along. I'm not sure what exactly fixed it, but I did install `PCL`, `Ceres-solver` and `boost` using brew. Right now I'm having a problem building `sensor_msgs` and `geometry_msgs` because `nddscpp` and `RTIConnextCpp` are throwing erros. Probably due to [RTI Connext 5.3](
https://github.com/ros2/ros2/wiki/OSX-Development-Setup#rti-connext-53) not being installed. I'll update if and when I get further along.
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