The first thing I'm going to advice you is to update your R version, the one you are using is pretty old, the current version is R 3.6.1, usually is easier to install packages on the latest versions.
Also, since you are trying to install packages from source and you are on a Mac system, make sure you have installed/updated xcode in your system
xcode-select --install
Finally, after checking on previous points, try installing again with this command
install.packages("tidyverse", dependencies = TRUE)