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I had the same problem and I can't quite remember exactly how I fixed it, but here is what I remember.

After the build fails it gives you the command it failed on and the error you stated. How I got to compile was to cd to the directory that it failed in. I ran grep -r ltinyxml *, the results yield a link.txt file and I replace the -ltinyxml in that file with /usr/local/Cellar/tinyxml/2.6.2/lib/libtinyxml.dylib and rebuilt

you might want to verify the version and path for tinyxlml are the same for you. It's a bit of a hack but it works.

Another helpful note is that catkin_make_isolated has a from-pkg build option that allows you to pick up where you left off.