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Please be more specific. What exactly are you installing, and where? The error is not specific to either the PR2 or Nao robot. What command causes this error?

Looking at "Failed to find stack for package [joy]", it seems like you don't have the "joy" package installed. By looking at its wiki page, you can infer that it's in the "joystick_drivers" stack. You need to install that stack, either from source or with the debian package ros-electric-joystick-drivers.

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