How can I connect to the Oracle Developer DB VM on MacOS?

Question

I am running the Oracle Developer DB VM on Virtualbox. On my local I am running macOS and have downloaded Oracle's SQLDeveloper. I have successfully connected to the database using the configuration found here. I am hoping to connect the the database in R, for example like this:

con <- DBI::dbConnect(odbc::odbc(),
                  Driver = "[your driver's name]",
                  Host   = "localhost",
                  SVC    = "[your schema's name]",
                  UID    = "hr",
                  PWD    = "oracle",
                  Port   = 1521)

I have also tried connecting to the database using ODBC Manager and iODBC Administrator but am having trouble finding any driver & driver manager configuration that will have a successful connection like I got from SQL Developer. Every error I've gotten implies the configuration is wrong. I'm hoping to translate the successful SQL Developer connection into either a successful R connection or a connected DSN.