How to run ios simulator for ui Automation test on jenkins
It's probably related to the fact, that you're not running your Jenkins master or Jenkins slave in a desktop session, meaning that it does not have access to your GUI (e.g. it can't launch anything that pops-up a window or a dialog).
So you either need to start the Jenkins master manually or allow it to access the GUI if it's run as a service (not sure how to do this on Mac OS). Another way would be to run a Jenkins slave on the same machine, started via JNLP.
The following Stackoverflow issues deal with the same error message/code and suggest similar solutions: