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Hi, This is a general problem people face when they directly use the joystick drivers. I would suggest you to find out how the mapping of the joystick buttons done to give the cmd_vel commands. So test the joystick functions against the cmd_vel outputs using.

rostopic echo /joy

and

rostopic echo /cmd_vel

Please check the teleop_joy launch file as well for the same. This tutorial might be of some help to you to understand about the remapping of the buttons according to the joystick you are using. teleop using the keyboard works straight forward but its better to use joystick for the easy usage.