How to control autorepeat_rate joy node ?

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You can create a launch file and set the parameter within the node, or you can set it as a rosparam before you launch the node. Setting it through the launch file is very common, because it is repeatable:

<launch>
    <node pkg="joy" name="joystick" type="joystick">
        <param name="autorepeat_rate" value="0.1"/>
    </node>
</launch