This tutorial gives a brief intro to roslisp. For more, see the API documentation, and the code in the roslisp_tutorials ROS package.

This tutorial explains how the ASDF standard is used in roslisp, with a few added conventions.

This explains how to create unit tests with RT, also for rostest

This tutorial gives a brief intro to writing clients for actionlib servers

This tutorial presents the macros offered by actionlib_lisp.

This tutorial describes the tf client that allows easy access to transformations in the ROS TF framework