Added hotpatch for sbcl bug #1005161 until it is fixed in sbcl.

See bug report at:
https://bugs.launchpad.net/sbcl/+bug/1005161

cram_roslisp_common/cram-roslisp-common.asd

@@ -9,4 +9,5 @@
              (:file "ros-node" :depends-on ("package"))
              (:file "time" :depends-on ("package" "ros-node"))
              (:file "lispification" :depends-on ("package"))
-             (:file "tf" :depends-on ("package" "ros-node"))))))
+             (:file "tf" :depends-on ("package" "ros-node"))
+             (:file "sbcl-hotpatches")))))

cram_roslisp_common/src/sbcl-hotpatches.lisp

@@ -0,0 +1,56 @@
+;;; Copyright (c) 2012, Lorenz Moesenlechner <moesenle@in.tum.de>
+;;; All rights reserved.
+;;; 
+;;; Redistribution and use in source and binary forms, with or without
+;;; modification, are permitted provided that the following conditions are met:
+;;; 
+;;;     * Redistributions of source code must retain the above copyright
+;;;       notice, this list of conditions and the following disclaimer.
+;;;     * Redistributions in binary form must reproduce the above copyright
+;;;       notice, this list of conditions and the following disclaimer in the
+;;;       documentation and/or other materials provided with the distribution.
+;;;     * Neither the name of the Intelligent Autonomous Systems Group/
+;;;       Technische Universitaet Muenchen nor the names of its contributors 
+;;;       may be used to endorse or promote products derived from this software 
+;;;       without specific prior written permission.
+;;; 
+;;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+;;; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+;;; IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+;;; ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+;;; LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+;;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+;;; SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+;;; INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+;;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+;;; ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+;;; POSSIBILITY OF SUCH DAMAGE.
+
+(in-package :cl-user)
+
+(locally (declare (sb-ext:muffle-conditions sb-kernel:redefinition-warning))
+
+  ;; We redefine release-fd-stream-resources since the failure
+  ;; handling was catching deadlines. Basically, this means that it
+  ;; interferes with cram's scheduling which can lead to dropped
+  ;; sockets or similar things.
+  (handler-bind ((sb-kernel:redefinition-warning #'muffle-warning))
+     (sb-ext:with-unlocked-packages (sb-impl)
+       (defun sb-impl::release-fd-stream-resources (fd-stream)
+         (sb-sys:without-interrupts
+           ;; Drop handlers first.
+           (when (sb-impl::fd-stream-handler fd-stream)
+             (sb-sys:remove-fd-handler (sb-impl::fd-stream-handler fd-stream))
+             (setf (sb-impl::fd-stream-handler fd-stream) nil))
+           ;; Disable interrupts so that a asynch unwind will not leave
+           ;; us with a dangling finalizer (that would close the same
+           ;; --possibly reassigned-- FD again), or a stream with a closed
+           ;; FD that appears open.
+           (sb-unix:unix-close (sb-sys:fd-stream-fd fd-stream))
+           (sb-impl::set-closed-flame fd-stream)
+           (when (fboundp 'sb-ext:cancel-finalization)
+             (sb-ext:cancel-finalization fd-stream)))
+         ;; Release all buffers. If this is undone, or interrupted,
+         ;; we're still safe: buffers have finalizers of their own.
+         (sb-impl::release-fd-stream-buffers fd-stream)))))
+