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You need to first load the package before you can use it in a function call:

(ros-load:load-system "roslisp_utilities" :roslisp-utilities)

This is explained in the following tutorial:

Please note that the intermediate tutorials require more in-depth understanding of CRAM. Additionally, the tutorial that you picked is tagged with version v0.6.0, whereas the current version on the master branch is v0.7.0, so some parts of the tutorial might be outdated and might not work.

HTH, Gaya