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Short Answer: This is due to the teleop_base being deprecated for a while.

Longer Answer: The Joy message is no longer in the joy package, but has instead been moved to sensor_msgs. You could probably update teleop_base to reflect theses changes (the manifest.xml and the actual source files will have to be updated at a minimum).

Probably the better answer is to write a simple "glue" node that will change the Joy messages that your device (ps3joy, etc) puts out, and changes them into appropriately scaled Twist messages published on /cmd_vel.

The other option is to use a pre-made generic teleop node, like https://github.com/skynetish/teleop

Related Questions

• http://answers.ros.org/question/9207/teleop_base-deprecated-need-generic-teleop-package
• http://answers.ros.org/question/12744/importerror-no-module-named-joymsg