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Are you following the instructions on the wiki [1]? The two formulae are in the ros/hydro tap, so execute brew tap ros/hydro (which is part of the install instructions) and then try the rosdep command again.
Also I just noticed that you are using the option --rosdistro groovy. If you want to install hydro, choose hydro instead of groovy here...
Moreover, depending on which variant you are installing, you might need some or all of the fixes described here, in case you are not aware of that yet [2].
You should be able to install the desktop-full variant of hydro on OS X 10.9.
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