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To fix this error, need to install the missing package rqt_virtual_joystick:

https://github.com/aquahika/rqt_virtual_joystick

Suggested installation:

mkdir -p joystick_ws/src
cd joystick_ws/src
git clone https://github.com/aquahika/rqt_virtual_joystick
cd ..
catkin_make
echo 'source ~/joystick_ws/devel/setup.bash' >> ~/.bashrc
source ~/.bashrc

To test: rosrun rqt_virtual_joy rqt_virtual_joy Notice that the package is rqt_virtual_joy