You need to sort RDD and take element in the middle or average of two elements. Here is example with RDD[Int]:
import org.apache.spark.SparkContext._
val rdd: RDD[Int] = ???
val sorted = rdd.sortBy(identity).zipWithIndex().map {
case (v, idx) => (idx, v)
}
val count = sorted.count()
val median: Double = if (count % 2 == 0) {
val l = count / 2 - 1
val r = l + 1
(sorted.lookup(l).head + sorted.lookup(r).head).toDouble / 2
} else sorted.lookup(count / 2).head.toDouble