does joy support lunar?

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I try to install ros_lunar_joy

If that is the actual package name that you asked apt-get to install, then that would not work. The debian/ubuntu package name is ros-lunar-joy (note the dashes (-) instead of the underscores (_)).

The following should work:

sudo apt-get install ros-lunar-joy

Edit: this was not immediately clear from the joy wiki page when I checked it, but apparently the joystick_drivers packages have only been released into Lunar 13 days ago (as of 2017-09-05) and are not yet available in the main repository.

See status_page/ros_lunar_default.html?q=joy.

You have a few options:

1. wait for the next Lunar sync which should include joy (and all other joystick_drivers pkgs)
2. configure your system to use the shadow repository
3. build joystick_drivers from source

Option 1 is probably the best - if you can wait.

Option 2 could get you access to the binary packages right now - but be aware of the potential consequences

Option 3 is not recommended, but is an option. Note that just cloning the repository is not enough. See #q252478 for how to build a package from source. But again: don't do this if you don't actually need to.