Unable to launch WebDriverAgent because of xcodebuild failure: xcodebuild failed with code 65

I am trying to run appium scripts with below setup:

Appium version : 1.6.4
Xcode : 8.3.2
Mac : 10.12.4
iPhone : 10.3.1

Below is the code I am using to launch safari Browser on iPhone real device.

desCapabilities = new DesiredCapabilities();
desCapabilities.setCapability("platformName","iOS");
desCapabilities.setCapability("deviceName", "Ananda's iPhone");
desCapabilities.setCapability("platformVersion", "10.3.1");
desCapabilities.setCapability("app", "com.apple.mobilesafari");
desCapabilities.setCapability("udid", "******");
iOSDriver = new IOSDriver<MobileElement>(new URL("http://" + nodeUrl + ":" + nodeUrlPort + "/wd/hub"), desCapabilities);

I am getting the error and please find the logs below:

[MJSONWP] Encountered internal error running command: Error: Unable to launch WebDriverAgent because of xcodebuild failure: xcodebuild failed with code 65
at XCUITestDriver.quitAndUninstall$ (../../lib/driver.js:374:15)
at tryCatch (/usr/local/lib/node_modules/appium/node_modules/babel-runtime/regenerator/runtime.js:67:40)
at GeneratorFunctionPrototype.invoke [as _invoke] (/usr/local/lib/node_modules/appium/node_modules/babel-runtime/regenerator/runtime.js:315:22)
at GeneratorFunctionPrototype.prototype.(anonymous function) [as next] (/usr/local/lib/node_modules/appium/node_modules/babel-runtime/regenerator/runtime.js:100:21)
at GeneratorFunctionPrototype.invoke (/usr/local/lib/node_modules/appium/node_modules/babel-runtime/regenerator/runtime.js:136:37)
at process._tickCallback (internal/process/next_tick.js:109:7)

By following the below steps I have launched the safari browser on iOS real device using Appium.

1. We need to install WebDriverAgent on Mac using Terminal.

   xcodebuild build test -project /usr/local/lib/node_modules/appium/node_modules/appium-xcuitest-driver/WebDriverAgent/WebDriverAgent.xcodeproj -scheme WebDriverAgentRunner -destination id= -configuration Debug

2. Run the below command to Open the WebDriverAgent using Xcode.

   open /usr/local/lib/node_modules/appium/node_modules/appium-xcuitest-driver/WebDriverAgent/WebDriverAgent.xcodeproj

3. In Xcode, select the "Automatically manage signing" checkbox for both WebDriverAgent and WebDriverAgentLib.

4. Run the Xcode Project.

5. Once build succeed, WebDriverAgent app will be installed in iPhone device.

6. Finally Run the Selenium code to Launch Safari Browser.