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Underscores are replaced by hyphens in the Ubuntu packages. That means you have to run

sudo apt-get install ros-groovy-joystick-drivers

Underscores are replaced by hyphens in the Ubuntu packages. That means you have to run

sudo apt-get install ros-groovy-joystick-drivers

Hint: You can use tab-completion while typing: hit "tab" while completing the package name.