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Small comment first: your beckon.lisp is actually a shell script, so at least call it beckon.lisp.sh or something.

But your problem has nothing to do with executables themselves I think, even if you tried your function in the lisp command line (repl) it probably wouldn't work. It seems that your *.asd file is not set up properly. You need a dependency on roslisp, it seems to not have been loaded. The setup of ROS Lisp packages is also described in the tutorial: http://wiki.ros.org/roslisp/Tutorials/OrganizingFiles#Setting_up_a_new_roslisp_ROS_package