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Maybe this helps:

The ps3joy node just "converts" the ps3 controller into a standard linux joystick, so you get the js# device.

The joy node just "converts" a linux joystick into a ROS joy message. You can tell via its parameters which joystick to choose.

That message is processed by turtlebot_teleop.

As that ps3_teleop.launch file does not include ps3joy (maybe cannot because sudo is needed) it has to be started separately.

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