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Well it seems like joy package does my job very well anyway. But when I tried to "rosdep install joy" I got the message "Failed to find rosdep joystick for package joy" which means it couldn't find the joystick library in the operating system.

But I'm 100% sure that I have joystick library as I have libusb-dev. Both I have in operating system but rosdep is not able to find libraries. My idea is something should go with CMakeLists.txt because it seems cmake does not include these libraries. But I'm not yet experienced to solve that deeply. According to tutorials I could have easily write "rosdep install joy" and everything should have gone well, but it is not.