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Dirk has solved the issue by submitting a patch to roslisp:

https://github.com/ros/roslisp/commit/a050701edde477fb06a807b9e097108730deeb06

Basically, the environment hook of roslisp was broken under groovy. As of roslisp version 1.9.13 the environment variable $ROSLISP_PACKAGE_DIRECTORIES is back and points to all devel/share/common-lisp sub-directories of all catkin workspaces. This makes sure that the roslisp buildsystem called ASDF can find the autogenerated roslisp messages from wet source packages: ASDF recursively crawls all sub-directories of $ROSLISP_PACKAGE_DIRECTORIES and $ROS_PACKAGE_PATH for lisp system definitions, e.g. files with extention *.asd.